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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/EKF2.cpp
+3
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@@ -838,6 +838,7 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp)
_ekf.getAirspeedInnov(innovations.airspeed);
_ekf.getBetaInnov(innovations.beta);
_ekf.getHaglInnov(innovations.hagl);
_ekf.getHaglRateInnov(innovations.hagl_rate);
// Not yet supported
innovations.aux_vvel = NAN;
@@ -878,6 +879,7 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime &timestamp)
_ekf.getAirspeedInnovRatio(test_ratios.airspeed);
_ekf.getBetaInnovRatio(test_ratios.beta);
_ekf.getHaglInnovRatio(test_ratios.hagl);
_ekf.getHaglRateInnovRatio(test_ratios.hagl_rate);
// Not yet supported
test_ratios.aux_vvel = NAN;
@@ -902,6 +904,7 @@ void EKF2::PublishInnovationVariances(const hrt_abstime &timestamp)
_ekf.getAirspeedInnovVar(variances.airspeed);
_ekf.getBetaInnovVar(variances.beta);
_ekf.getHaglInnovVar(variances.hagl);
_ekf.getHaglRateInnovVar(variances.hagl_rate);
// Not yet supported
variances.aux_vvel = NAN;