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EKF add print_status() with memory usage

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Daniel Agar
2017-11-16 14:11:34 -05:00
parent 75d1ed894c
commit d9c8af54bd
3 changed files with 21 additions and 0 deletions
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EKF/estimator_interface.cpp
+17
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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());
}