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EKF2: Show time slip on console

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Lorenz Meier
2017-07-09 21:58:41 +02:00
parent 8ff40d8048
commit 3bdd0e95dd
1 changed files with 5 additions and 2 deletions
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src/modules/ekf2/ekf2_main.cpp
+5 -2
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@@ -165,6 +165,7 @@ private:
// Used to check, save and use learned magnetometer biases
hrt_abstime _last_magcal_us = 0; // last time the EKF was operating a mode that estimates magnetomer biases (usec)
hrt_abstime _total_cal_time_us = 0; // accumulated calibration time since the last save
hrt_abstime _last_time_slip_us = 0; ///< Last time slip
float _last_valid_mag_cal[3] = {}; // last valid XYZ magnetometer bias estimates (mGauss)
bool _valid_cal_available[3] = {}; // true when an unsaved valid calibration for the XYZ magnetometer bias is available
float _last_valid_variance[3] = {}; // variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
@@ -451,8 +452,9 @@ Ekf2::~Ekf2()
void Ekf2::print_status()
{
warnx("local position OK %s", (_ekf.local_position_is_valid()) ? "[YES]" : "[NO]");
warnx("global position OK %s", (_ekf.global_position_is_valid()) ? "[YES]" : "[NO]");
PX4_INFO("local position OK %s", (_ekf.local_position_is_valid()) ? "[YES]" : "[NO]");
PX4_INFO("global position OK %s", (_ekf.global_position_is_valid()) ? "[YES]" : "[NO]");
PX4_INFO("time slip: %" PRIu64 " us", _last_time_slip_us);
}
void Ekf2::task_main()
@@ -1042,6 +1044,7 @@ void Ekf2::task_main()
// monitor time slippage
if (start_time_us != 0 && now > start_time_us) {
status.time_slip = (float)(1e-6 * ((double)(now - start_time_us) - (double) integrated_time_us));
_last_time_slip_us = (now - start_time_us) - integrated_time_us;
} else {
status.time_slip = 0.0f;