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ekf2_replay: log output predictor tracking errors

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Paul Riseborough
2016-10-13 09:06:41 +02:00
committed by Lorenz Meier
parent 865b6404ec
commit 02c3ea0a5b
1 changed files with 3 additions and 0 deletions
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src/modules/ekf2_replay/ekf2_replay_main.cpp
+3
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@@ -645,6 +645,9 @@ void Ekf2Replay::logIfUpdated()
log_message.body.innov.s[i] = innov.vel_pos_innov[i];
log_message.body.innov.s[i + 6] = innov.vel_pos_innov_var[i];
}
for (unsigned i = 0; i < 3; i++) {
log_message.body.innov.s[i + 12] = innov.output_tracking_error[i];
}
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST4_MSG].length);