mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.8 KiB
C++
49 lines
1.8 KiB
C++
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#include "EKFGSF_yaw.h"
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#include <AP_Logger/AP_Logger.h>
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void EKFGSF_yaw::Log_Write(uint64_t time_us, LogMessages id0, LogMessages id1, uint8_t core_index)
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{
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if (!vel_fuse_running) {
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return;
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}
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static_assert(N_MODELS_EKFGSF >= 5, "Logging will break on <5 EKFGSF models");
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const struct log_KY0 ky0{
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LOG_PACKET_HEADER_INIT(id0),
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time_us : time_us,
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core : core_index,
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yaw_composite : GSF.yaw,
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yaw_composite_variance : sqrtf(MAX(GSF.yaw_variance, 0.0f)),
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yaw0 : EKF[0].X[2],
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yaw1 : EKF[1].X[2],
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yaw2 : EKF[2].X[2],
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yaw3 : EKF[3].X[2],
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yaw4 : EKF[4].X[2],
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wgt0 : GSF.weights[0],
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wgt1 : GSF.weights[1],
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wgt2 : GSF.weights[2],
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wgt3 : GSF.weights[3],
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wgt4 : GSF.weights[4],
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};
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AP::logger().WriteBlock(&ky0, sizeof(ky0));
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const struct log_KY1 ky1{
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LOG_PACKET_HEADER_INIT(id1),
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time_us : time_us,
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core : core_index,
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ivn0 : EKF[0].innov[0],
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ivn1 : EKF[1].innov[0],
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ivn2 : EKF[2].innov[0],
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ivn3 : EKF[3].innov[0],
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ivn4 : EKF[4].innov[0],
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ive0 : EKF[0].innov[1],
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ive1 : EKF[1].innov[1],
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ive2 : EKF[2].innov[1],
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ive3 : EKF[3].innov[1],
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ive4 : EKF[4].innov[1],
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};
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AP::logger().WriteBlock(&ky1, sizeof(ky1));
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}
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