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sdlog2: Add replay logging of flow and range finder messages for ekf2

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Paul Riseborough
2016-03-13 17:47:56 +01:00
committed by Lorenz Meier
parent b1f656c4b8
commit 80927d79fe
2 changed files with 26 additions and 0 deletions
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src/modules/sdlog2/sdlog2.c
+12
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@@ -1201,6 +1201,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_RPL1_s log_RPL1;
struct log_RPL2_s log_RPL2;
struct log_EST6_s log_INO3;
struct log_RPL3_s log_RPL3;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1479,6 +1480,17 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_RPL2.vel_d_m_s = buf.replay.vel_d_m_s;
log_msg.body.log_RPL2.vel_ned_valid = buf.replay.vel_ned_valid;
LOGBUFFER_WRITE_AND_COUNT(RPL2);
log_msg.msg_type = LOG_RPL3_MSG;
log_msg.body.log_RPL3.time_rng_usec = buf.replay.rng_timestamp;
log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
log_msg.body.log_RPL3.range_to_ground = buf.replay.range_to_ground;
log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
LOGBUFFER_WRITE_AND_COUNT(RPL3);
}
/* --- ATTITUDE --- */