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Add timestamp to ECL print statements, (#644)

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which is helpful for EKF replay debugging.
This commit is contained in:
kritz
2019-09-25 11:24:42 +02:00
committed by Julian Oes
parent bb88d4ce5e
commit 4a38f5a2f6
11 changed files with 61 additions and 45 deletions
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EKF/airspeed_fusion.cpp
+2 -2
View File
@@ -103,12 +103,12 @@ void Ekf::fuseAirspeed()
if (update_wind_only) {
resetWindStates();
resetWindCovariance();
ECL_ERR("EKF airspeed fusion badly conditioned - wind covariance reset");
ECL_ERR_TIMESTAMPED("EKF airspeed fusion badly conditioned - wind covariance reset");
} else {
initialiseCovariance();
_state.wind_vel.setZero();
ECL_ERR("EKF airspeed fusion badly conditioned - full covariance reset");
ECL_ERR_TIMESTAMPED("EKF airspeed fusion badly conditioned - full covariance reset");
}
return;
EKF/control.cpp
+20 -20
View File
@@ -71,7 +71,6 @@ void Ekf::controlFusionModes()
} else if (_control_status.flags.rng_hgt) {
ECL_INFO("EKF aligned, (range height, IMU buf: %i, OBS buf: %i)", (int)_imu_buffer_length, (int)_obs_buffer_length);
} else {
ECL_ERR("EKF aligned, (unknown height, IMU buf: %i, OBS buf: %i)", (int)_imu_buffer_length, (int)_obs_buffer_length);
}
@@ -181,14 +180,14 @@ void Ekf::controlExternalVisionFusion()
if (_params.fusion_mode & MASK_USE_EVPOS && !_control_status.flags.ev_pos) {
_control_status.flags.ev_pos = true;
resetPosition();
ECL_INFO("EKF commencing external vision position fusion");
ECL_INFO_TIMESTAMPED("EKF commencing external vision position fusion");
}
// turn on use of external vision measurements for velocity
if (_params.fusion_mode & MASK_USE_EVVEL && !_control_status.flags.ev_vel) {
_control_status.flags.ev_vel = true;
resetVelocity();
ECL_INFO("EKF commencing external vision velocity fusion");
ECL_INFO_TIMESTAMPED("EKF commencing external vision velocity fusion");
}
if ((_params.fusion_mode & MASK_ROTATE_EV) && !(_params.fusion_mode & MASK_USE_EVYAW)
@@ -196,6 +195,7 @@ void Ekf::controlExternalVisionFusion()
// Reset transformation between EV and EKF navigation frames when starting fusion
resetExtVisRotMat();
_ev_rot_mat_initialised = true;
ECL_INFO_TIMESTAMPED("EKF external vision aligned");
}
}
}
@@ -254,7 +254,7 @@ void Ekf::controlExternalVisionFusion()
_control_status.flags.mag_3D = false;
}
ECL_INFO("EKF commencing external vision yaw fusion");
ECL_INFO_TIMESTAMPED("EKF commencing external vision yaw fusion");
}
}
@@ -406,7 +406,7 @@ void Ekf::controlExternalVisionFusion()
_control_status.flags.ev_pos = false;
_control_status.flags.ev_vel = false;
_control_status.flags.ev_yaw = false;
ECL_INFO("EKF External Vision Data Stopped");
ECL_INFO_TIMESTAMPED("EKF External Vision Data Stopped");
}
}
@@ -593,7 +593,7 @@ void Ekf::controlGpsFusion()
_control_status.flags.mag_3D = false;
}
ECL_INFO("EKF commencing GPS yaw fusion");
ECL_INFO_TIMESTAMPED("EKF commencing GPS yaw fusion");
}
}
@@ -641,7 +641,7 @@ void Ekf::controlGpsFusion()
}
if (_control_status.flags.gps) {
ECL_INFO("EKF commencing GPS fusion");
ECL_INFO_TIMESTAMPED("EKF commencing GPS fusion");
_time_last_gps = _time_last_imu;
}
}
@@ -659,7 +659,7 @@ void Ekf::controlGpsFusion()
if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {
resetPosition();
}
ECL_WARN("EKF GPS data quality poor - stopping use");
ECL_WARN_TIMESTAMPED("EKF GPS data quality poor - stopping use");
}
// handle the case when we now have GPS, but have not been using it for an extended period
@@ -684,7 +684,7 @@ void Ekf::controlGpsFusion()
resetVelocity();
resetPosition();
_velpos_reset_request = false;
ECL_WARN("EKF GPS fusion timeout - reset to GPS");
ECL_WARN_TIMESTAMPED("EKF GPS fusion timeout - reset to GPS");
// Reset the timeout counters
_time_last_pos_fuse = _time_last_imu;
@@ -743,12 +743,12 @@ void Ekf::controlGpsFusion()
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
_control_status.flags.gps = false;
ECL_WARN("EKF GPS data stopped");
ECL_WARN_TIMESTAMPED("EKF GPS data stopped");
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6) && (_control_status.flags.opt_flow || _control_status.flags.ev_pos || _control_status.flags.ev_vel)) {
// Handle the case where we are fusing another position source along GPS,
// stop waiting for GPS after 1 s of lost signal
_control_status.flags.gps = false;
ECL_WARN("EKF GPS data stopped, using only EV or OF");
ECL_WARN_TIMESTAMPED("EKF GPS data stopped, using only EV or OF");
}
}
@@ -828,7 +828,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF baro hgt timeout - reset to GPS");
ECL_WARN_TIMESTAMPED("EKF baro hgt timeout - reset to GPS");
} else if (reset_to_baro) {
// set height sensor health
@@ -839,7 +839,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF baro hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("EKF baro hgt timeout - reset to baro");
} else {
// we have nothing we can reset to
@@ -879,7 +879,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF gps hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("EKF gps hgt timeout - reset to baro");
} else if (reset_to_gps) {
// reset the height mode
@@ -887,7 +887,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF gps hgt timeout - reset to GPS");
ECL_WARN_TIMESTAMPED("EKF gps hgt timeout - reset to GPS");
} else {
// we have nothing to reset to
@@ -922,7 +922,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF rng hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("EKF rng hgt timeout - reset to baro");
} else if (reset_to_rng) {
// set height sensor health
@@ -933,7 +933,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF rng hgt timeout - reset to rng hgt");
ECL_WARN_TIMESTAMPED("EKF rng hgt timeout - reset to rng hgt");
} else {
// we have nothing to reset to
@@ -967,7 +967,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF ev hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("EKF ev hgt timeout - reset to baro");
} else if (reset_to_ev) {
// reset the height mode
@@ -975,7 +975,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN("EKF ev hgt timeout - reset to ev hgt");
ECL_WARN_TIMESTAMPED("EKF ev hgt timeout - reset to ev hgt");
} else {
// we have nothing to reset to
@@ -1682,7 +1682,7 @@ void Ekf::controlVelPosFusion()
_fuse_hpos_as_odom = false;
if (_time_last_fake_gps != 0) {
ECL_WARN("EKF stopping navigation");
ECL_WARN_TIMESTAMPED("EKF stopping navigation");
}
}
EKF/covariance.cpp
+1 -1
View File
@@ -852,7 +852,7 @@ void Ekf::fixCovarianceErrors()
P[15][15] = varZ;
_time_acc_bias_check = _time_last_imu;
_fault_status.flags.bad_acc_bias = false;
ECL_WARN("EKF invalid accel bias - resetting covariance");
ECL_WARN_TIMESTAMPED("EKF invalid accel bias - resetting covariance");
} else {
// ensure the covariance values are symmetrical
EKF/ekf.cpp
+1 -1
View File
@@ -274,7 +274,7 @@ bool Ekf::initialiseFilter()
const baroSample &baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt;
_state.pos(2) = -math::max(_rng_filt_state * _R_rng_to_earth_2_2, _params.rng_gnd_clearance);
ECL_INFO("EKF using range finder height - commencing alignment");
ECL_INFO_TIMESTAMPED("EKF using range finder height - commencing alignment");
} else if (_control_status.flags.ev_hgt) {
// if we are using external vision data for height, then the vertical position state needs to be reset
EKF/ekf_helper.cpp
+2 -2
View File
@@ -442,11 +442,11 @@ bool Ekf::realignYawGPS()
// correct yaw angle using GPS ground course if compass yaw bad or yaw is previously not aligned
if (badMagYaw || !_control_status.flags.yaw_align) {
ECL_WARN("EKF bad yaw corrected using GPS course");
ECL_WARN_TIMESTAMPED("EKF bad yaw corrected using GPS course");
// declare the magnetometer as failed if a bad yaw has occurred more than once
if (_control_status.flags.mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
ECL_WARN("EKF stopping magnetometer use");
ECL_WARN_TIMESTAMPED("EKF stopping magnetometer use");
_control_status.flags.mag_fault = true;
}
EKF/estimator_interface.cpp
+10 -10
View File
@@ -104,7 +104,7 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
_drag_buffer_fail = !_drag_buffer.allocate(_obs_buffer_length);
if (_drag_buffer_fail) {
ECL_ERR("EKF drag buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF drag buffer allocation failed");
return;
}
}
@@ -170,7 +170,7 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float (&data)[3])
_mag_buffer_fail = !_mag_buffer.allocate(_obs_buffer_length);
if (_mag_buffer_fail) {
ECL_ERR("EKF mag buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF mag buffer allocation failed");
return;
}
}
@@ -202,7 +202,7 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, const gps_message &gps)
_gps_buffer_fail = !_gps_buffer.allocate(_obs_buffer_length);
if (_gps_buffer_fail) {
ECL_ERR("EKF GPS buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF GPS buffer allocation failed");
return;
}
}
@@ -263,7 +263,7 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float data)
_baro_buffer_fail = !_baro_buffer.allocate(_obs_buffer_length);
if (_baro_buffer_fail) {
ECL_ERR("EKF baro buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF baro buffer allocation failed");
return;
}
}
@@ -296,7 +296,7 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float true_airspeed
_airspeed_buffer_fail = !_airspeed_buffer.allocate(_obs_buffer_length);
if (_airspeed_buffer_fail) {
ECL_ERR("EKF airspeed buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF airspeed buffer allocation failed");
return;
}
}
@@ -326,7 +326,7 @@ void EstimatorInterface::setRangeData(uint64_t time_usec, float data, int8_t qua
_range_buffer_fail = !_range_buffer.allocate(_obs_buffer_length);
if (_range_buffer_fail) {
ECL_ERR("EKF range finder buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF range finder buffer allocation failed");
return;
}
}
@@ -356,7 +356,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
_flow_buffer_fail = !_flow_buffer.allocate(_imu_buffer_length);
if (_flow_buffer_fail) {
ECL_ERR("EKF optical flow buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF optical flow buffer allocation failed");
return;
}
}
@@ -428,7 +428,7 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
_ev_buffer_fail = !_ext_vision_buffer.allocate(_obs_buffer_length);
if (_ev_buffer_fail) {
ECL_ERR("EKF external vision buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF external vision buffer allocation failed");
return;
}
}
@@ -468,7 +468,7 @@ void EstimatorInterface::setAuxVelData(uint64_t time_usec, float (&data)[2], flo
_auxvel_buffer_fail = !_auxvel_buffer.allocate(_obs_buffer_length);
if (_auxvel_buffer_fail) {
ECL_ERR("EKF aux vel buffer allocation failed");
ECL_ERR_TIMESTAMPED("EKF aux vel buffer allocation failed");
return;
}
}
@@ -517,7 +517,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
_output_buffer.allocate(_imu_buffer_length) &&
_output_vert_buffer.allocate(_imu_buffer_length))) {
ECL_ERR("EKF buffer allocation failed!");
ECL_ERR_TIMESTAMPED("EKF buffer allocation failed!");
unallocate_buffers();
return false;
}
EKF/gps_checks.cpp
+2 -2
View File
@@ -91,14 +91,14 @@ bool Ekf::collect_gps(const gps_message &gps)
// if the user has selected GPS as the primary height source, switch across to using it
if (_primary_hgt_source == VDIST_SENSOR_GPS) {
ECL_INFO("EKF GPS checks passed (WGS-84 origin set, using GPS height)");
ECL_INFO_TIMESTAMPED("EKF GPS checks passed (WGS-84 origin set, using GPS height)");
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
// zero the sensor offset
_hgt_sensor_offset = 0.0f;
} else {
ECL_INFO("EKF GPS checks passed (WGS-84 origin set)");
ECL_INFO_TIMESTAMPED("EKF GPS checks passed (WGS-84 origin set)");
}
}
EKF/gps_yaw_fusion.cpp
+1 -1
View File
@@ -174,7 +174,7 @@ void Ekf::fuseGpsAntYaw()
// we reinitialise the covariance matrix and abort this fusion step
initialiseCovariance();
ECL_ERR("EKF GPS yaw fusion numerical error - covariance reset");
ECL_ERR_TIMESTAMPED("EKF GPS yaw fusion numerical error - covariance reset");
return;
}
EKF/mag_fusion.cpp
+4 -4
View File
@@ -101,7 +101,7 @@ void Ekf::fuseMag()
// we need to re-initialise covariances and abort this fusion step
resetMagCovariance();
ECL_ERR("EKF magX fusion numerical error - covariance reset");
ECL_ERR_TIMESTAMPED("EKF magX fusion numerical error - covariance reset");
return;
}
@@ -120,7 +120,7 @@ void Ekf::fuseMag()
// we need to re-initialise covariances and abort this fusion step
resetMagCovariance();
ECL_ERR("EKF magY fusion numerical error - covariance reset");
ECL_ERR_TIMESTAMPED("EKF magY fusion numerical error - covariance reset");
return;
}
@@ -139,7 +139,7 @@ void Ekf::fuseMag()
// we need to re-initialise covariances and abort this fusion step
resetMagCovariance();
ECL_ERR("EKF magZ fusion numerical error - covariance reset");
ECL_ERR_TIMESTAMPED("EKF magZ fusion numerical error - covariance reset");
return;
}
@@ -677,7 +677,7 @@ void Ekf::fuseHeading()
// we reinitialise the covariance matrix and abort this fusion step
initialiseCovariance();
ECL_ERR("EKF mag yaw fusion numerical error - covariance reset");
ECL_ERR_TIMESTAMPED("EKF mag yaw fusion numerical error - covariance reset");
return;
}
EKF/sideslip_fusion.cpp
+2 -2
View File
@@ -133,12 +133,12 @@ void Ekf::fuseSideslip()
if (update_wind_only) {
resetWindStates();
resetWindCovariance();
ECL_ERR("EKF synthetic sideslip fusion badly conditioned - wind covariance reset");
ECL_ERR_TIMESTAMPED("EKF synthetic sideslip fusion badly conditioned - wind covariance reset");
} else {
initialiseCovariance();
_state.wind_vel.setZero();
ECL_ERR("EKF synthetic sideslip fusion badly conditioned - full covariance reset");
ECL_ERR_TIMESTAMPED("EKF synthetic sideslip fusion badly conditioned - full covariance reset");
}
return;
ecl.h
+16
View File
@@ -51,6 +51,16 @@ using ecl_abstime = hrt_abstime;
#define ECL_WARN PX4_WARN
#define ECL_ERR PX4_ERR
#if defined(__PX4_POSIX)
#define ECL_INFO_TIMESTAMPED(X) PX4_INFO("%lu: " X, _imu_sample_delayed.time_us)
#define ECL_WARN_TIMESTAMPED(X) PX4_WARN("%lu: " X, _imu_sample_delayed.time_us)
#define ECL_ERR_TIMESTAMPED(X) PX4_ERR("%lu: " X, _imu_sample_delayed.time_us)
#else
#define ECL_INFO_TIMESTAMPED PX4_INFO
#define ECL_WARN_TIMESTAMPED PX4_WARN
#define ECL_ERR_TIMESTAMPED PX4_ERR
#endif
#elif defined(__PAPARAZZI)
#include "std.h"
@@ -63,6 +73,9 @@ using ecl_abstime = uint64_t;
#define ECL_INFO(...)
#define ECL_WARN(...)
#define ECL_ERR(...)
#define ECL_INFO_TIMESTAMPED PX4_INFO
#define ECL_WARN_TIMESTAMPED PX4_WARN
#define ECL_ERR_TIMESTAMPED PX4_ERR
#else
@@ -77,6 +90,9 @@ using ecl_abstime = uint64_t;
#define ECL_INFO printf
#define ECL_WARN printf
#define ECL_ERR printf
#define ECL_INFO_TIMESTAMPED printf
#define ECL_WARN_TIMESTAMPED printf
#define ECL_ERR_TIMESTAMPED printf
#endif /* PX4_POSIX || PX4_NUTTX */