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sdlog2: log ekf output predictor tracking errors

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This commit is contained in:
Paul Riseborough
2016-10-13 09:06:41 +02:00
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
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@@ -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;