fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 19:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: log mag inclination and strength for tuning

Browse Source
This commit is contained in:
bresch
2023-07-24 10:16:37 -04:00
committed by Daniel Agar
parent 357bf024f6
commit 72be724b86
4 changed files with 22 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.h
+10
View File
@@ -227,6 +227,14 @@ public:
}
}
void get_mag_checks(float &inc_deg, float &inc_ref_deg, float &strength_gs, float &strength_ref_gs) const
{
inc_deg = math::degrees(_mag_inclination);
inc_ref_deg = math::degrees(_mag_inclination_gps);
strength_gs = _mag_strength;
strength_ref_gs = _mag_strength_gps;
}
// get EKF mode status
const filter_control_status_u &control_status() const { return _control_status; }
const decltype(filter_control_status_u::flags) &control_status_flags() const { return _control_status.flags; }
@@ -405,6 +413,8 @@ protected:
float _mag_declination_gps{NAN}; // magnetic declination returned by the geo library using the last valid GPS position (rad)
float _mag_inclination_gps{NAN}; // magnetic inclination returned by the geo library using the last valid GPS position (rad)
float _mag_strength_gps{NAN}; // magnetic strength returned by the geo library using the last valid GPS position (T)
float _mag_inclination{NAN};
float _mag_strength{NAN};
// this is the current status of the filter control modes
filter_control_status_u _control_status{};