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Log height innovation sensor specific

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This commit is contained in:
kamilritz
2019-12-03 13:01:43 +01:00
committed by Julian Kent
parent 61b569245b
commit 5d0965e83a
3 changed files with 10 additions and 3 deletions
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src/modules/ekf2/ekf2_main.cpp
+6
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@@ -1610,6 +1610,8 @@ void Ekf2::Run()
_ekf.getGpsVelPosInnov(&innovations.gps_hvel[0], innovations.gps_vvel, &innovations.gps_hpos[0],
innovations.gps_vpos);
_ekf.getEvVelPosInnov(&innovations.ev_hvel[0], innovations.ev_vvel, &innovations.ev_hpos[0], innovations.ev_vpos);
_ekf.getBaroHgtInnov(innovations.baro_vpos);
_ekf.getRngHgtInnov(innovations.rng_vpos);
_ekf.getAuxVelInnov(&innovations.aux_hvel[0]);
_ekf.getFlowInnov(&innovations.flow[0]);
_ekf.getHeadingInnov(innovations.heading);
@@ -1626,6 +1628,8 @@ void Ekf2::Run()
innovation_var.gps_vpos);
_ekf.getEvVelPosInnovVar(&innovation_var.ev_hvel[0], innovation_var.ev_vvel, &innovation_var.ev_hpos[0],
innovation_var.ev_vpos);
_ekf.getBaroHgtInnovVar(innovation_var.baro_vpos);
_ekf.getRngHgtInnovVar(innovation_var.rng_vpos);
_ekf.getAuxVelInnovVar(&innovation_var.aux_hvel[0]);
_ekf.getFlowInnovVar(&innovation_var.flow[0]);
_ekf.getHeadingInnovVar(innovation_var.heading);
@@ -1642,6 +1646,8 @@ void Ekf2::Run()
test_ratios.gps_vpos);
_ekf.getEvVelPosInnovRatio(test_ratios.ev_hvel[0], test_ratios.ev_vvel, test_ratios.ev_hpos[0],
test_ratios.ev_vpos);
_ekf.getBaroHgtInnovRatio(test_ratios.baro_vpos);
_ekf.getRngHgtInnovRatio(test_ratios.rng_vpos);
_ekf.getAuxVelInnovRatio(test_ratios.aux_hvel[0]);
_ekf.getFlowInnovRatio(test_ratios.flow[0]);
_ekf.getHeadingInnovRatio(test_ratios.heading);