From e73a02343ae720bf4eb27b765c35eea16fb9723d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 11 Apr 2018 22:16:43 +1000 Subject: [PATCH] Rover: GPS now logs its own data --- APMrover2/APMrover2.cpp | 18 +----------------- 1 file changed, 1 insertion(+), 17 deletions(-) diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp index ba603602e3..c005fb80d5 100644 --- a/APMrover2/APMrover2.cpp +++ b/APMrover2/APMrover2.cpp @@ -49,7 +49,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = { SCHED_TASK(read_rangefinders, 50, 200), SCHED_TASK(update_current_mode, 50, 200), SCHED_TASK(set_servos, 50, 200), - SCHED_TASK(update_GPS_50Hz, 50, 300), + SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300), SCHED_TASK(update_GPS_10Hz, 10, 300), SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200), SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200), @@ -300,22 +300,6 @@ void Rover::one_second_loop(void) update_sensor_status_flags(); } -void Rover::update_GPS_50Hz(void) -{ - static uint32_t last_gps_reading[GPS_MAX_INSTANCES]; - gps.update(); - - for (uint8_t i=0; i < gps.num_sensors(); i++) { - if (gps.last_message_time_ms(i) != last_gps_reading[i]) { - last_gps_reading[i] = gps.last_message_time_ms(i); - if (should_log(MASK_LOG_GPS)) { - DataFlash.Log_Write_GPS(gps, i); - } - } - } -} - - void Rover::update_GPS_10Hz(void) { have_position = ahrs.get_position(current_loc);