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ekf2: verbose (DEBUG_BUILD) print status with Matrix improved print

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* ekf2: verbose print status
 * matrix/Matrix improve print output
 * bold diagonal elements, print ring buffer entry size
 * print in scientific notation when >= 10 to respect max size

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2024-01-10 09:46:04 -05:00
committed by GitHub
parent 071565a8ad
commit d45c3d3407
8 changed files with 178 additions and 81 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
-59
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@@ -676,62 +676,3 @@ void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name)
ECL_ERR("%s buffer allocation failed", buffer_name);
}
}
void EstimatorInterface::print_status()
{
printf("EKF average dt: %.6f seconds\n", (double)_dt_ekf_avg);
printf("IMU buffer: %d (%d Bytes)\n", _imu_buffer.get_length(), _imu_buffer.get_total_size());
printf("minimum observation interval %d us\n", _min_obs_interval_us);
#if defined(CONFIG_EKF2_GNSS)
if (_gps_buffer) {
printf("gps buffer: %d/%d (%d Bytes)\n", _gps_buffer->entries(), _gps_buffer->get_length(), _gps_buffer->get_total_size());
}
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_mag_buffer) {
printf("mag buffer: %d/%d (%d Bytes)\n", _mag_buffer->entries(), _mag_buffer->get_length(), _mag_buffer->get_total_size());
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_BAROMETER)
if (_baro_buffer) {
printf("baro buffer: %d/%d (%d Bytes)\n", _baro_buffer->entries(), _baro_buffer->get_length(), _baro_buffer->get_total_size());
}
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_RANGE_FINDER)
if (_range_buffer) {
printf("range buffer: %d/%d (%d Bytes)\n", _range_buffer->entries(), _range_buffer->get_length(), _range_buffer->get_total_size());
}
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_AIRSPEED)
if (_airspeed_buffer) {
printf("airspeed buffer: %d/%d (%d Bytes)\n", _airspeed_buffer->entries(), _airspeed_buffer->get_length(), _airspeed_buffer->get_total_size());
}
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
if (_flow_buffer) {
printf("flow buffer: %d/%d (%d Bytes)\n", _flow_buffer->entries(), _flow_buffer->get_length(), _flow_buffer->get_total_size());
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_ext_vision_buffer) {
printf("vision buffer: %d/%d (%d Bytes)\n", _ext_vision_buffer->entries(), _ext_vision_buffer->get_length(), _ext_vision_buffer->get_total_size());
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_DRAG_FUSION)
if (_drag_buffer) {
printf("drag buffer: %d/%d (%d Bytes)\n", _drag_buffer->entries(), _drag_buffer->get_length(), _drag_buffer->get_total_size());
}
#endif // CONFIG_EKF2_DRAG_FUSION
_output_predictor.print_status();
}