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DataFlash: removed unused optFlowEnabled from Log_Write_EKF

master
Randy Mackay 8 years ago
parent
59ffc3cd65
commit
e13f4d0d56
2 changed files with 8 additions and 8 deletions
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  1. 6
      libraries/DataFlash/DataFlash.h
  2. 10
      libraries/DataFlash/LogFile.cpp

6
libraries/DataFlash/DataFlash.h
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@ -123,7 +123,7 @@ public:
void Log_Write_AHRS2(AP_AHRS &ahrs); void Log_Write_AHRS2(AP_AHRS &ahrs);
void Log_Write_POS(AP_AHRS &ahrs); void Log_Write_POS(AP_AHRS &ahrs);
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
void Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled); void Log_Write_EKF(AP_AHRS_NavEKF &ahrs);
#endif #endif
bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd); bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
void Log_Write_Radio(const mavlink_radio_t &packet); void Log_Write_Radio(const mavlink_radio_t &packet);
@ -274,8 +274,8 @@ private:
bool _armed; bool _armed;
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled); void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs);
void Log_Write_EKF3(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled); void Log_Write_EKF3(AP_AHRS_NavEKF &ahrs);
#endif #endif
void backend_starting_new_log(const DataFlash_Backend *backend); void backend_starting_new_log(const DataFlash_Backend *backend);

10
libraries/DataFlash/LogFile.cpp
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@ -684,15 +684,15 @@ void DataFlash_Class::Log_Write_POS(AP_AHRS &ahrs)
} }
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled) void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
{ {
// only log EKF2 if enabled // only log EKF2 if enabled
if (ahrs.get_NavEKF2().activeCores() > 0) { if (ahrs.get_NavEKF2().activeCores() > 0) {
Log_Write_EKF2(ahrs, optFlowEnabled); Log_Write_EKF2(ahrs);
} }
// only log EKF3 if enabled // only log EKF3 if enabled
if (ahrs.get_NavEKF3().activeCores() > 0) { if (ahrs.get_NavEKF3().activeCores() > 0) {
Log_Write_EKF3(ahrs, optFlowEnabled); Log_Write_EKF3(ahrs);
} }
} }
@ -716,7 +716,7 @@ void DataFlash_Class::Log_Write_EKF_Timing(const char *name, uint64_t time_us, c
(double)timing.delVelDT_max); (double)timing.delVelDT_max);
} }
void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled) void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs)
{ {
uint64_t time_us = AP_HAL::micros64(); uint64_t time_us = AP_HAL::micros64();
// Write first EKF packet // Write first EKF packet
@ -1058,7 +1058,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
} }
void DataFlash_Class::Log_Write_EKF3(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled) void DataFlash_Class::Log_Write_EKF3(AP_AHRS_NavEKF &ahrs)
{ {
uint64_t time_us = AP_HAL::micros64(); uint64_t time_us = AP_HAL::micros64();
// Write first EKF packet // Write first EKF packet

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