From c037b30aeb5bd698362ffa1a17e4c81c97cf166b Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 11 Mar 2016 14:47:59 +1100 Subject: [PATCH] ekf2: add missing GPS status data to ekf2 replay --- src/modules/ekf2/ekf2_main.cpp | 2 ++ src/modules/ekf2_replay/ekf2_replay_main.cpp | 4 +++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 26d9130d40..e64d9e7e9e 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -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; diff --git a/src/modules/ekf2_replay/ekf2_replay_main.cpp b/src/modules/ekf2_replay/ekf2_replay_main.cpp index c6e1330298..cecfcf2643 100644 --- a/src/modules/ekf2_replay/ekf2_replay_main.cpp +++ b/src/modules/ekf2_replay/ekf2_replay_main.cpp @@ -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; -} \ No newline at end of file +}