ekf2: log mag inclination and strength for tuning

2026-07-01 09:50:34 +08:00 · 2023-04-18 21:35:03 +02:00
parent 357bf024f6
commit 72be724b86
4 changed files with 22 additions and 4 deletions
@@ -1665,6 +1665,9 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	status.gyro_device_id = _device_id_gyro;
 	status.mag_device_id = _device_id_mag;

+	_ekf.get_mag_checks(status.mag_inclination_deg, status.mag_inclination_ref_deg, status.mag_strength_gs,
+			    status.mag_strength_ref_gs);
+
 	status.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 	_estimator_status_pub.publish(status);
 }