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AP_NavEKF : Update optical flow debug logging

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priseborough 2014-11-01 13:27:22 +11:00 committed by Andrew Tridgell
parent 1791dec622
commit 06c19a3a4d
2 changed files with 7 additions and 7 deletions
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12
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3622,15 +3622,15 @@ bool NavEKF::getLLH(struct Location &loc) const
} }
// return data for debugging optical flow fusion // return data for debugging optical flow fusion
void NavEKF::getFlowDebug(float &scaleFactor, float &gndPos, float &flowX, float &flowY, float &omegaX, float &omegaY, uint8_t &quality, float &range) const void NavEKF::getFlowDebug(float &scaleFactor, float &gndPos, float &flowInnovX, float &flowInnovY, float &augFlowInnovX, float &augFlowInnovY, float &rngInnov, float &range) const
{ {
scaleFactor = flowStates[0]; scaleFactor = flowStates[0];
flowX = flowRadXY[0];
flowY = flowRadXY[1];
omegaX = omegaAcrossFlowTime.x;;
omegaY = omegaAcrossFlowTime.y;;
gndPos = flowStates[1]; gndPos = flowStates[1];
quality = flowQuality; flowInnovX = innovOptFlow[0];
flowInnovY = innovOptFlow[1];
augFlowInnovX = auxFlowObsInnov[0];
augFlowInnovY = auxFlowObsInnov[1];
rngInnov = innovRng;
range = rngMea; range = rngMea;
} }

2
libraries/AP_NavEKF/AP_NavEKF.h
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@ -163,7 +163,7 @@ public:
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange); void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange);
// return data for debugging optical flow fusion // return data for debugging optical flow fusion
void getFlowDebug(float &scaleFactor, float &gndPos, float &flowX, float &flowY, float &omegaX, float &omegaY, uint8_t &quality, float &range) const; void getFlowDebug(float &scaleFactor, float &gndPos, float &flowInnovX, float &flowInnovY, float &augFlowInnovX, float &augFlowInnovY, float &rngInnov, float &range) const;
/* /*
return the filter fault status as a bitmasked integer return the filter fault status as a bitmasked integer