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sdlog: setup flow innovation logging

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This commit is contained in:
bugobliterator
2016-02-23 13:07:40 -08:00
committed by Lorenz Meier
parent 47f79a66d1
commit 01ee608117
4 changed files with 21 additions and 2 deletions
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3
src/modules/ekf2/ekf2_main.cpp
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@@ -612,11 +612,12 @@ void Ekf2::task_main()
_ekf->get_vel_pos_innov(&innovations.vel_pos_innov[0]);
_ekf->get_mag_innov(&innovations.mag_innov[0]);
_ekf->get_heading_innov(&innovations.heading_innov);
_ekf->get_flow_innov(&innovations.flow_innov[0]);
_ekf->get_vel_pos_innov_var(&innovations.vel_pos_innov_var[0]);
_ekf->get_mag_innov_var(&innovations.mag_innov_var[0]);
_ekf->get_heading_innov_var(&innovations.heading_innov_var);
_ekf->get_flow_innov_var(&innovations.flow_innov_var[0]);
if (_estimator_innovations_pub == nullptr) {
_estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);