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ekf: add logging of range finder consistency check

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bresch
2022-04-13 11:41:48 +02:00
committed by Mathieu Bresciani
parent baf9cc9597
commit 8693ad15a7
5 changed files with 16 additions and 0 deletions
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src/modules/ekf2/EKF/range_finder_consistency_check.cpp
+4
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@@ -63,6 +63,10 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
_time_last_update_us = time_us;
_dist_bottom_prev = dist_bottom;
// Save for logging
_vel_bottom_innov = innov;
_vel_bottom_innov_var = innov_var;
}
void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)