From 66e887e5810c5633a6943170e339cb3066a594bb Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 5 Oct 2016 19:51:08 +1100 Subject: [PATCH] sdlog2: log estimator innovation test pass/fail data --- src/modules/sdlog2/sdlog2.c | 1 + src/modules/sdlog2/sdlog2_messages.h | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 37e237e04d..a055ccc613 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -2154,6 +2154,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_EST2.gps_check_fail_flags = buf.estimator_status.gps_check_fail_flags; log_msg.body.log_EST2.control_mode_flags = buf.estimator_status.control_mode_flags; log_msg.body.log_EST2.health_flags = buf.estimator_status.health_flags; + log_msg.body.log_EST2.innov_test_flags = buf.estimator_status.innovation_check_flags; LOGBUFFER_WRITE_AND_COUNT(EST2); log_msg.msg_type = LOG_EST3_MSG; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 4d1f3f1f87..8578fd0321 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -414,6 +414,7 @@ struct log_EST2_s { uint16_t gps_check_fail_flags; uint16_t control_mode_flags; uint8_t health_flags; + uint16_t innov_test_flags; }; /* --- EST3 - ESTIMATOR STATUS --- */ @@ -688,7 +689,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"), LOG_FORMAT(EST0, "ffffffffffffBBHB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fFault,fTOut"), LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"), - LOG_FORMAT(EST2, "ffffffffffffHHB", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL,fHealth"), + LOG_FORMAT(EST2, "ffffffffffffHHBH", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL,fHealth,IC"), LOG_FORMAT(EST3, "ffffffffffffffff", "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"), LOG_FORMAT(EST4, "ffffffffffff", "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV"), LOG_FORMAT(EST5, "ffffffffff", "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV,AirI,AirIV"),