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ekf2: Added airspeed to rpl logging

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This commit is contained in:
CarlOlsson
2016-05-10 21:32:55 +02:00
committed by Lorenz Meier
parent f4c8bd9be3
commit 6b5e77250f
4 changed files with 49 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+13
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@@ -848,6 +848,19 @@ void Ekf2::task_main()
replay.rng_timestamp = 0;
}
if (airspeed_updated) {
replay.asp_timestamp = airspeed.timestamp;
replay.indicated_airspeed_m_s = airspeed.indicated_airspeed_m_s;
replay.true_airspeed_m_s = airspeed.true_airspeed_m_s;
replay.true_airspeed_unfiltered_m_s = airspeed.true_airspeed_unfiltered_m_s;
replay.air_temperature_celsius = airspeed.air_temperature_celsius;
replay.confidence = airspeed.confidence;
} else {
replay.asp_timestamp = 0;
}
if (_replay_pub == nullptr) {
_replay_pub = orb_advertise(ORB_ID(ekf2_replay), &replay);