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ekf2: add missing GPS status data to ekf2 replay

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This commit is contained in:
Paul Riseborough 2016-03-11 14:47:59 +11:00 committed by Lorenz Meier
parent 016bfad507
commit c037b30aeb
2 changed files with 5 additions and 1 deletions
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2
src/modules/ekf2/ekf2_main.cpp
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@ -678,8 +678,10 @@ void Ekf2::task_main()
replay.lon = gps.lon;
replay.alt = gps.alt;
replay.fix_type = gps.fix_type;
replay.nsats = gps.satellites_used;
replay.eph = gps.eph;
replay.epv = gps.epv;
replay.sacc = gps.s_variance_m_s;
replay.vel_m_s = gps.vel_m_s;
replay.vel_n_m_s = gps.vel_n_m_s;
replay.vel_e_m_s = gps.vel_e_m_s;

4
src/modules/ekf2_replay/ekf2_replay_main.cpp
View File

@ -353,8 +353,10 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
_gps.lat = replay_part2.lat;
_gps.lon = replay_part2.lon;
_gps.fix_type = replay_part2.fix_type;
_gps.satellites_used = replay_part2.nsats;
_gps.eph = replay_part2.eph;
_gps.epv = replay_part2.epv;
_gps.s_variance_m_s = replay_part2.sacc;
_gps.vel_m_s = replay_part2.vel_m_s;
_gps.vel_n_m_s = replay_part2.vel_n_m_s;
_gps.vel_e_m_s = replay_part2.vel_e_m_s;
@ -867,4 +869,4 @@ int ekf2_replay_main(int argc, char *argv[])
PX4_WARN("unrecognized command");
return 1;
}
}