From 016bfad507cab51715ddac6532cd1317abeedbc0 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 11 Mar 2016 14:47:19 +1100 Subject: [PATCH] sdlog2: add missing GPS status data to ekf2 replay --- src/modules/sdlog2/sdlog2.c | 2 ++ src/modules/sdlog2/sdlog2_messages.h | 4 +++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 6d994051ef..163e7730fa 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1476,8 +1476,10 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_RPL2.lon = buf.replay.lon; log_msg.body.log_RPL2.alt = buf.replay.alt; log_msg.body.log_RPL2.fix_type = buf.replay.fix_type; + log_msg.body.log_RPL2.nsats = buf.replay.nsats; log_msg.body.log_RPL2.eph = buf.replay.eph; log_msg.body.log_RPL2.epv = buf.replay.epv; + log_msg.body.log_RPL2.sacc = buf.replay.sacc; log_msg.body.log_RPL2.vel_m_s = buf.replay.vel_m_s; log_msg.body.log_RPL2.vel_n_m_s = buf.replay.vel_n_m_s; log_msg.body.log_RPL2.vel_e_m_s = buf.replay.vel_e_m_s; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 8393632e45..31fb0e671e 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -545,8 +545,10 @@ struct log_RPL2_s { int32_t lon; int32_t alt; uint8_t fix_type; + uint8_t nsats; float eph; float epv; + float sacc; float vel_m_s; float vel_n_m_s; float vel_e_m_s; @@ -661,7 +663,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"), LOG_FORMAT(CAMT, "QI", "timestamp,seq"), LOG_FORMAT(RPL1, "QQQQQffffffffff", "t,gIdt,aIdt,Tm,Tb,gIx,gIy,gIz,aIx,aIy,aIz,magX,magY,magZ,b_alt"), - LOG_FORMAT(RPL2, "QQLLLMffffffM", "Tpos,Tvel,lat,lon,alt,fix_type,eph,epv,v,vN,vE,vD,v_val"), + LOG_FORMAT(RPL2, "QQLLLMMfffffffM", "Tpos,Tvel,lat,lon,alt,fix,nsats,eph,epv,sacc,v,vN,vE,vD,v_val"), LOG_FORMAT(RPL3, "QffffIB", "Tflow,fx,fy,gx,gy,delT,qual"), LOG_FORMAT(RPL4, "Qf", "Trng,rng"), /* system-level messages, ID >= 0x80 */