fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 04:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sdlog2: log ekf2 GPS and control status flags

Browse Source
This commit is contained in:
Paul Riseborough
2016-04-20 21:47:29 +02:00
committed by Lorenz Meier
parent 631040b30b
commit 771d753419
2 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+2
View File
@@ -2010,6 +2010,8 @@ int sdlog2_thread_main(int argc, char *argv[])
unsigned maxcopy2 = (sizeof(buf.estimator_status.covariances) < sizeof(log_msg.body.log_EST2.cov)) ? sizeof(buf.estimator_status.covariances) : sizeof(log_msg.body.log_EST2.cov);
memset(&(log_msg.body.log_EST2.cov), 0, sizeof(log_msg.body.log_EST2.cov));
memcpy(&(log_msg.body.log_EST2.cov), buf.estimator_status.covariances, maxcopy2);
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;
LOGBUFFER_WRITE_AND_COUNT(EST2);
log_msg.msg_type = LOG_EST3_MSG;
src/modules/sdlog2/sdlog2_messages.h
+3 -1
View File
@@ -409,6 +409,8 @@ struct log_EST1_s {
#define LOG_EST2_MSG 34
struct log_EST2_s {
float cov[12];
uint16_t gps_check_fail_flags;
uint16_t control_mode_flags;
};
/* --- EST3 - ESTIMATOR STATUS --- */
@@ -649,7 +651,7 @@ 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, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(EST2, "ffffffffffff", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11"),
LOG_FORMAT(EST2, "ffffffffffffHH", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL"),
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"),