log both mpu6000s

3drobotics · Feb 27, 2015 · 61e8159 · 61e8159
1 parent 9cbf505
commit 61e8159
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
@@ -248,7 +248,7 @@ void AP_InertialSensor_PX4::_new_accel_sample(uint8_t i, accel_report &accel_rep
     // report error count
     _set_accel_error_count(frontend_instance, accel_report.error_count);
 
-    if(dataflash != NULL && dataflash->logging_started() && frontend_instance == 0) {
+    if(dataflash != NULL && dataflash->logging_started() && (frontend_instance == 0 || frontend_instance == 2)) {
         dataflash->Log_Write_Ins(LOG_ACC1_MSG+frontend_instance, (uint32_t)accel_report.timestamp, accel);
     }
 
@@ -311,7 +311,7 @@ void AP_InertialSensor_PX4::_new_gyro_sample(uint8_t i, gyro_report &gyro_report
     // report error count
     _set_gyro_error_count(_gyro_instance[i], gyro_report.error_count);
 
-    if(dataflash != NULL && dataflash->logging_started() && frontend_instance == 0) {
+    if(dataflash != NULL && dataflash->logging_started() && (frontend_instance == 0 || frontend_instance == 2)) {
         dataflash->Log_Write_Ins(LOG_GYR1_MSG+frontend_instance, (uint32_t)gyro_report.timestamp, gyro);
     }