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sdlog2: log ekf output predictor tracking errors

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This commit is contained in:
Paul Riseborough
2016-08-14 13:49:45 +10:00
committed by Lorenz Meier
parent 7a9e3002ff
commit ed0cc2af43
2 changed files with 7 additions and 4 deletions
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src/modules/sdlog2/sdlog2.c
+3
View File
@@ -2172,6 +2172,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_INO1.s[i] = buf.innovations.vel_pos_innov[i];
log_msg.body.log_INO1.s[i + 6] = buf.innovations.vel_pos_innov_var[i];
}
for (unsigned i = 0; i < 3; i++) {
log_msg.body.log_INO1.s[i + 12] = buf.innovations.output_tracking_error[i];
}
LOGBUFFER_WRITE_AND_COUNT(EST4);
log_msg.msg_type = LOG_EST5_MSG;
src/modules/sdlog2/sdlog2_messages.h
+4 -4
View File
@@ -506,7 +506,7 @@ struct log_CTS_s {
/* --- EST4 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST4_MSG 48
struct log_EST4_s {
float s[12];
float s[15];
};
/* --- EST5 - ESTIMATOR INNOVATIONS --- */
@@ -691,9 +691,9 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(EST2, "ffffffffffffHHBH", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL,fHealth,IC"),
LOG_FORMAT(EST3, "ffffffffffffffff", "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"),
LOG_FORMAT(EST4, "ffffffffffff", "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV"),
LOG_FORMAT(EST5, "ffffffffff", "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV,AirI,AirIV"),
LOG_FORMAT(EST6, "ffffff", "FxI,FyI,FxIV,FyIV,HAGLI,HAGLIV"),
LOG_FORMAT(EST4, "fffffffffffffff", "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV,e1,e2,e3"),
LOG_FORMAT(EST5, "ffffffffff", "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV,AirI,AirIV"),
LOG_FORMAT(EST6, "ffffff", "FxI,FyI,FxIV,FyIV,HAGLI,HAGLIV"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(MOCP, "fffffff", "QuatW,QuatX,QuatY,QuatZ,X,Y,Z"),
LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatW,QuatX,QuatY,QuatZ"),