AP_NavEKF3: Allow the GPS to be responsible for logging

TForce1 · Sep 9, 2019 · 9a7d64e · 9a7d64e
1 parent a4d10b2
commit 9a7d64e
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Showing 3 changed files with 0 additions and 7 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -610,10 +610,6 @@ void NavEKF3::check_log_write(void)
         AP::logger().Write_Compass(imuSampleTime_us);
         logging.log_compass = false;
     }
-    if (logging.log_gps) {
-        AP::logger().Write_GPS(AP::gps().primary_sensor(), imuSampleTime_us);
-        logging.log_gps = false;
-    }
     if (logging.log_baro) {
         AP::logger().Write_Baro(imuSampleTime_us);
         logging.log_baro = false;

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -486,7 +486,6 @@ class NavEKF3 {
     struct {
         bool enabled:1;
         bool log_compass:1;
-        bool log_gps:1;
         bool log_baro:1;
         bool log_imu:1;
     } logging;

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -619,8 +619,6 @@ void NavEKF3_core::readGpsData()
                 gpsNotAvailable = false;
             }
 
-            frontend->logging.log_gps = true;
-
             // if the GPS has yaw data then input that as well
             float yaw_deg, yaw_accuracy_deg;
             if (AP::gps().gps_yaw_deg(yaw_deg, yaw_accuracy_deg)) {