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Sub: support MASK_LOG_IMU_FAST (loop rate logging) #28747

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Sub: support MASK_LOG_IMU_FAST (loop rate logging) #28747

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11 changes: 10 additions & 1 deletion ArduSub/ArduSub.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
#if HAL_LOGGING_ENABLED
SCHED_TASK(ten_hz_logging_loop, 10, 350, 51),
SCHED_TASK(twentyfive_hz_logging, 25, 110, 54),
SCHED_TASK(loop_rate_logging, LOOP_RATE, 50, 55),
SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300, 57),
#endif
SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50, 60),
Expand Down Expand Up @@ -234,7 +235,15 @@ void Sub::twentyfive_hz_logging()
}

// log IMU data if we're not already logging at the higher rate
if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_FAST)) {
AP::ins().Write_IMU();
}
}

// Full rate logging of IMU
void Sub::loop_rate_logging()
{
if (should_log(MASK_LOG_IMU_FAST)) {
AP::ins().Write_IMU();
}
}
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1 change: 1 addition & 0 deletions ArduSub/Sub.h
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Expand Up @@ -394,6 +394,7 @@ class Sub : public AP_Vehicle {
void update_batt_compass(void);
void ten_hz_logging_loop();
void twentyfive_hz_logging();
void loop_rate_logging();
void three_hz_loop();
void one_hz_loop();
void update_turn_counter();
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