fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 21:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added estimator status logging to sdlog2

Browse Source
This commit is contained in:
Lorenz Meier
2014-03-24 09:35:47 +01:00
parent d64c861ef8
commit 0874507a44
3 changed files with 29 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2_messages.h
+11
View File
@@ -299,6 +299,16 @@ struct log_PARM_s {
float value;
};
/* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 132
struct log_ESTM_s {
float s[32];
uint8_t n_states;
uint8_t states_nan;
uint8_t covariance_nan;
uint8_t kalman_gain_nan;
};
#pragma pack(pop)
/* construct list of all message formats */
@@ -331,6 +341,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
LOG_FORMAT(PARM, "Nf", "Name,Value"),
LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);