Rover: enable EKF detailed logging

11 years ago · 989b26899f
1 changed files with 4 additions and 0 deletions
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@ -371,6 +371,10 @@ static void Log_Write_Attitude()
				@@ -371,6 +371,10 @@ static void Log_Write_Attitude()
        yaw     : (uint16_t)ahrs.yaw_sensor
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
+#if AP_AHRS_NAVEKF_AVAILABLE
+    DataFlash.Log_Write_EKF(ahrs);
+    DataFlash.Log_Write_AHRS2(ahrs);
+#endif
 }

 struct PACKED log_Mode {