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DataFlash: added staticmode to EKF4 message 

useful when diagnosing logs
This commit is contained in:
Andrew Tridgell 2014-11-22 13:33:16 +11:00
parent 46f601d703
commit 09547c40cb
2 changed files with 4 additions and 2 deletions
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3
libraries/DataFlash/DataFlash.h
View File

@ -338,6 +338,7 @@ struct PACKED log_EKF4 {
int8_t offsetNorth;
int8_t offsetEast;
uint8_t faults;
uint8_t staticmode;
};
struct PACKED log_Cmd {
@ -474,7 +475,7 @@ struct PACKED log_Ubx3 {
{ LOG_EKF3_MSG, sizeof(log_EKF3), \
"EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
{ LOG_EKF4_MSG, sizeof(log_EKF4), \
"EKF4","IcccccccbbB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS" }, \
"EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,StaticMode" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
{ LOG_UBX1_MSG, sizeof(log_Ubx1), \

3
libraries/DataFlash/LogFile.cpp
View File

@ -987,7 +987,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
sqrtvarVT : (int16_t)(100*tasVar),
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus)
faults : (uint8_t)(faultStatus),
staticmode : (uint8_t)(ahrs.get_NavEKF().getStaticMode())
};
WriteBlock(&pkt4, sizeof(pkt4));
}