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sdlog2: Log ekf2 height above ground fusion data

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This commit is contained in:
Paul Riseborough
2016-03-07 19:27:20 +11:00
committed by Lorenz Meier
parent e540315da8
commit 70e9047f5d
2 changed files with 4 additions and 2 deletions
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2
src/modules/sdlog2/sdlog2.c
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@@ -2002,6 +2002,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_INO3.s[i] = buf.innovations.flow_innov[i];
log_msg.body.log_INO3.s[i + 2] = buf.innovations.flow_innov_var[i];
}
log_msg.body.log_INO3.s[4] = buf.innovations.hagl_innov;
log_msg.body.log_INO3.s[5] = buf.innovations.hagl_innov_var;
LOGBUFFER_WRITE_AND_COUNT(EST6);
}

4
src/modules/sdlog2/sdlog2_messages.h
View File

@@ -432,7 +432,7 @@ struct log_EST5_s {
/* --- EST6 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST6_MSG 53
struct log_EST6_s {
float s[4];
float s[6];
};
/* --- TEL0..3 - TELEMETRY STATUS --- */
@@ -627,7 +627,7 @@ static const struct log_format_s log_formats[] = {
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, "ffffffff", "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV"),
LOG_FORMAT(EST6, "ffff", "FxI,FyI,FxIV,FyIV"),
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"),