ArduPlane: privatize AHRS logging

ArduPlane/ArduPlane.cpp

@@ -206,7 +206,7 @@ void Plane::update_logging1(void)
         logger.Write_IMU();
 
     if (should_log(MASK_LOG_ATTITUDE_MED))
-        logger.Write_AOA_SSA(ahrs);
+        ahrs.Write_AOA_SSA();
 }
 
 /*

ArduPlane/Log.cpp

@@ -18,9 +18,9 @@ void Plane::Log_Write_Attitude(void)
         // Get them from the quaternion instead:
         quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z);
         targets *= degrees(100.0f);
-        logger.Write_AttitudeView(*quadplane.ahrs_view, targets);
+        quadplane.ahrs_view->Write_AttitudeView(targets);
     } else {
-        logger.Write_Attitude(targets);
+        ahrs.Write_Attitude(targets);
     }
     if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
         // log quadplane PIDs separately from fixed wing PIDs
@@ -37,12 +37,12 @@ void Plane::Log_Write_Attitude(void)
 
 #if AP_AHRS_NAVEKF_AVAILABLE
     AP::ahrs_navekf().Log_Write();
-    logger.Write_AHRS2();
+    ahrs.Write_AHRS2();
 #endif
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     sitl.Log_Write_SIMSTATE();
 #endif
-    logger.Write_POS();
+    ahrs.Write_POS();
 }
 
 // do fast logging for plane
@@ -376,14 +376,6 @@ const struct LogStructure Plane::log_structure[] = {
     { LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
       "QTUN", "QffffffeccffBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Sscl,Trn,Ast", "s----mmmnn----", "F----00000-0--" },
 
-// @LoggerMessage: AOA
-// @Description: Angle of attack and Side Slip Angle values
-// @Field: TimeUS: Time since system startup
-// @Field: AOA: Angle of Attack calculated from airspeed, wind vector,velocity vector 
-// @Field: SSA: Side Slip Angle calculated from airspeed, wind vector,velocity vector
-    { LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA),
-      "AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" },
-
 // @LoggerMessage: PIQR,PIQP,PIQY,PIQA
 // @Description: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z
 // @Field: TimeUS: Time since system startup

ArduPlane/quadplane.cpp

@@ -2206,7 +2206,7 @@ void QuadPlane::motors_output(bool run_rate_controller)
         const uint32_t now = AP_HAL::millis();
 
         // log RATE at main loop rate
-        plane.logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
+        ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
 
         // log QTUN at 25 Hz
         if (now - last_qtun_log_ms > 40) {