Copter: add MASK_LOG_RCOUT_FAST for 400hz RC outputs

3drobotics · Oct 27, 2015 · e0f8201 · e0f8201
1 parent 94a7782
commit e0f8201
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
@@ -935,6 +935,10 @@ static void fast_loop()
     gps_glitch_update();
 
     camera_mount.update_fast();
+
+    if (should_log(MASK_LOG_RCOUT_FAST)) {
+        DataFlash.Log_Write_RCOUT();
+    }
 }
 
 // rc_loops - reads user input from transmitter/receiver
@@ -1038,7 +1042,7 @@ static void fifty_hz_logging_loop()
         Log_Write_Rate();
     }
 
-    if (should_log(MASK_LOG_RCOUT)) {
+    if (should_log(MASK_LOG_RCOUT) && !should_log(MASK_LOG_RCOUT_FAST)) {
         DataFlash.Log_Write_RCOUT();
     }
 

diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
@@ -268,7 +268,8 @@ enum FlipState {
 #define MASK_LOG_MOTBATT                (1UL<<17)
 #define MASK_LOG_IMU_FAST               (1UL<<18)
 #define MASK_LOG_IMU_RAW                (1UL<<19)
-#define MASK_LOG_ANY                    0xFFFF
+#define MASK_LOG_RCOUT_FAST             (1UL<<20)
+#define MASK_LOG_ANY                    (((MASK_LOG_RCOUT_FAST<<1)-1) & ~MASK_LOG_WHEN_DISARMED)
 
 // DATA - event logging
 #define DATA_MAVLINK_FLOAT              1