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Improve EKF status output printing

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Lorenz Meier
2015-08-29 16:16:46 +02:00
parent 341266a49b
commit 8d5fb36886
1 changed files with 5 additions and 1 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+5 -1
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@@ -1263,10 +1263,14 @@ void AttitudePositionEstimatorEKF::pollData()
(double)deltaT, (double)deltaTIntegral, (double)deltaTIntAcc,
dtoverflow5, dtoverflow10);
warnx("dang: %8.4f %8.4f dvel: %8.4f %8.4f",
warnx("DRV: dang: %8.4f %8.4f dvel: %8.4f %8.4f",
(double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.z,
(double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.z);
warnx("EKF: dang: %8.4f %8.4f dvel: %8.4f %8.4f",
(double)(_sensor_combined.gyro_rad_s[0] * deltaT), (double)(_sensor_combined.gyro_rad_s[2] * deltaT),
(double)(_sensor_combined.accelerometer_m_s2[0] * deltaT), (double)(_sensor_combined.accelerometer_m_s2[2] * deltaT));
lastprint = hrt_absolute_time();
}