From fabac94952995d42c5e72f94d83f29d55a5846b6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 8 Nov 2020 20:11:58 +1100
Subject: [PATCH] AP_DAL: avoid logging unused IMU data

---
 libraries/AP_DAL/AP_DAL_InertialSensor.cpp | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
index 26f2f8b778..926c9f8bcb 100644
--- a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
+++ b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
@@ -29,15 +29,19 @@ void AP_DAL_InertialSensor::start_frame()
         log_RISI &RISI = _RISI[i];
         const log_RISI old_RISI = RISI;
 
-        // accel stuff
+        // accel data
         RISI.use_accel = ins.use_accel(i);
-        RISI.get_delta_velocity_ret = ins.get_delta_velocity(i, RISI.delta_velocity);
-        RISI.delta_velocity_dt = ins.get_delta_velocity_dt(i);
+        if (RISI.use_accel) {
+            RISI.get_delta_velocity_ret = ins.get_delta_velocity(i, RISI.delta_velocity);
+            RISI.delta_velocity_dt = ins.get_delta_velocity_dt(i);
+        }
 
-        // gryo stuff
+        // gryo data
         RISI.use_gyro = ins.use_gyro(i);
-        RISI.delta_angle_dt = ins.get_delta_angle_dt(i);
-        RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle);
+        if (RISI.use_gyro) {
+            RISI.delta_angle_dt = ins.get_delta_angle_dt(i);
+            RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle);
+        }
 
         update_filtered(i);