400hz changes

3drobotics · Feb 16, 2015 · 2459320 · 2459320
1 parent e2c6c30
commit 2459320
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Showing 4 changed files with 12 additions and 9 deletions.
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
@@ -994,6 +994,10 @@ static void fast_loop()
 
     // run the attitude controllers
     update_flight_mode();
+
+    if (should_log(MASK_LOG_IMU)) {
+        DataFlash.Log_Write_IMU(ins);
+    }
 }
 
 // rc_loops - reads user input from transmitter/receiver
@@ -1093,10 +1097,6 @@ static void fifty_hz_logging_loop()
     if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
     }
-
-    if (should_log(MASK_LOG_IMU)) {
-        DataFlash.Log_Write_IMU(ins);
-    }
 #endif
     if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(DATA_AP_STATE, ap.value);

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
@@ -159,6 +159,8 @@ static void init_ardupilot()
     // identify ourselves correctly with the ground station
     mavlink_system.sysid = g.sysid_this_mav;
 
+    g.log_bitmask = MASK_LOG_IMU;
+
 #if LOGGING_ENABLED == ENABLED
     DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
     if (!DataFlash.CardInserted()) {

diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
@@ -21,11 +21,12 @@
 #include <AP_HAL.h>
 #include <DataFlash.h>
 
-#if HAL_OS_POSIX_IO && defined(HAL_BOARD_TERRAIN_DIRECTORY)
-#define AP_TERRAIN_AVAILABLE 1
-#else
 #define AP_TERRAIN_AVAILABLE 0
-#endif
+// #if HAL_OS_POSIX_IO && defined(HAL_BOARD_TERRAIN_DIRECTORY)
+// #define AP_TERRAIN_AVAILABLE 1
+// #else
+// #define AP_TERRAIN_AVAILABLE 0
+// #endif
 
 #if AP_TERRAIN_AVAILABLE
 

diff --git a/libraries/DataFlash/DataFlash_File.cpp b/libraries/DataFlash/DataFlash_File.cpp
@@ -43,7 +43,7 @@ DataFlash_File::DataFlash_File(const char *log_directory) :
     _open_error(false),
     _log_directory(log_directory),
     _writebuf(NULL),
-    _writebuf_size(16*1024),
+    _writebuf_size(48*1024),
 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
     // V1 gets IO errors with larger than 512 byte writes
     _writebuf_chunk(512),