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ekf2: estimator_status log reset counts

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Daniel Agar
2021-02-17 21:16:34 -05:00
committed by GitHub
parent 6d42fe28bf
commit cff7a01d5e
2 changed files with 13 additions and 0 deletions
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7
src/modules/ekf2/EKF2.cpp
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@@ -966,6 +966,13 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
_ekf.get_ekf_soln_status(&status.solution_status_flags);
_ekf.getImuVibrationMetrics().copyTo(status.vibe);
// reset counters
status.reset_count_vel_ne = _ekf.state_reset_status().velNE_counter;
status.reset_count_vel_d = _ekf.state_reset_status().velD_counter;
status.reset_count_pos_ne = _ekf.state_reset_status().posNE_counter;
status.reset_count_pod_d = _ekf.state_reset_status().posD_counter;
status.reset_count_quat = _ekf.state_reset_status().quat_counter;
status.time_slip = _last_time_slip_us * 1e-6f;
status.pre_flt_fail_innov_heading = _preflt_checker.hasHeadingFailed();