ArduPlane: Privatize AP_IntertialSensor Logging

tridge · Apr 29, 2021 · 5c8c961 · 5c8c961
1 parent a5b9846
commit 5c8c961
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -143,7 +143,7 @@ void Plane::ahrs_update()
     ahrs.update();
 
     if (should_log(MASK_LOG_IMU)) {
-        logger.Write_IMU();
+        AP::ins().Write_IMU();
     }
 
     // calculate a scaled roll limit based on current pitch
@@ -207,7 +207,7 @@ void Plane::update_logging1(void)
     }
 
     if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
-        logger.Write_IMU();
+        AP::ins().Write_IMU();
 
     if (should_log(MASK_LOG_ATTITUDE_MED))
         ahrs.Write_AOA_SSA();
@@ -236,7 +236,7 @@ void Plane::update_logging2(void)
         Log_Write_RC();
 
     if (should_log(MASK_LOG_IMU))
-        logger.Write_Vibration();
+        AP::ins().Write_Vibration();
 }