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EKF add print_status() with memory usage

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Daniel Agar 2017-11-16 13:36:03 -05:00
parent 75d1ed894c
commit d9c8af54bd
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GPG Key ID: FD3CBA98017A69DE
3 changed files with 21 additions and 0 deletions
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2
EKF/RingBuffer.h
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@ -155,6 +155,8 @@ public:
return false;
}
int get_total_size() { return sizeof(*this) + sizeof(data_type) * _size; }
private:
data_type *_buffer{nullptr};

17
EKF/estimator_interface.cpp
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@ -519,3 +519,20 @@ bool EstimatorInterface::local_position_is_valid()
// return true if we are not doing unconstrained free inertial navigation
return !inertial_dead_reckoning();
}
void EstimatorInterface::print_status() {
ECL_INFO("local position valid: %s", local_position_is_valid() ? "yes" : "no");
ECL_INFO("global position valid: %s", global_position_is_valid() ? "yes" : "no");
ECL_INFO("imu buffer: %d (%d Bytes)", _imu_buffer.get_length(), _imu_buffer.get_total_size());
ECL_INFO("gps buffer: %d (%d Bytes)", _gps_buffer.get_length(), _gps_buffer.get_total_size());
ECL_INFO("mag buffer: %d (%d Bytes)", _mag_buffer.get_length(), _mag_buffer.get_total_size());
ECL_INFO("baro buffer: %d (%d Bytes)", _baro_buffer.get_length(), _baro_buffer.get_total_size());
ECL_INFO("range buffer: %d (%d Bytes)", _range_buffer.get_length(), _range_buffer.get_total_size());
ECL_INFO("airspeed buffer: %d (%d Bytes)", _airspeed_buffer.get_length(), _airspeed_buffer.get_total_size());
ECL_INFO("flow buffer: %d (%d Bytes)", _flow_buffer.get_length(), _flow_buffer.get_total_size());
ECL_INFO("ext vision buffer: %d (%d Bytes)", _ext_vision_buffer.get_length(), _ext_vision_buffer.get_total_size());
ECL_INFO("output buffer: %d (%d Bytes)", _output_buffer.get_length(), _output_buffer.get_total_size());
ECL_INFO("output vert buffer: %d (%d Bytes)", _output_vert_buffer.get_length(), _output_vert_buffer.get_total_size());
ECL_INFO("drag buffer: %d (%d Bytes)", _drag_buffer.get_length(), _drag_buffer.get_total_size());
}

2
EKF/estimator_interface.h
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@ -352,6 +352,8 @@ public:
return _imu_updated;
}
void print_status();
static const unsigned FILTER_UPDATE_PERIOD_MS = 8; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
protected: