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AP_NavEKF3: Add documentation for GSF logging

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Paul Riseborough 2020-04-24 07:11:54 +10:00 committed by Andrew Tridgell
parent 9bdb89474a
commit 1720c8de0f
1 changed files with 31 additions and 0 deletions
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31
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -351,6 +351,23 @@ void NavEKF3::Log_Write_GSF(uint8_t _core, uint64_t time_us) const
float wgt[N_MODELS_EKFGSF];
if (getDataEKFGSF(_core, yaw_composite, yaw_composite_variance, yaw, ivn, ive, wgt)) {
// @LoggerMessage: XKY0
// @Description: EKF2 Yaw Estimator States
// @Field: TimeUS: Time since system startup
// @Field: YC: GSF yaw estimate (rad)
// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad)
// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad)
// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad)
// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad)
// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad)
// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad)
// @Field: W0: Weighting applied to yaw estimate from individual EKF filter 0 (rad)
// @Field: W1: Weighting applied to yaw estimate from individual EKF filter 1 (rad)
// @Field: W2: Weighting applied to yaw estimate from individual EKF filter 2 (rad)
// @Field: W3: Weighting applied to yaw estimate from individual EKF filter 3 (rad)
// @Field: W4: Weighting applied to yaw estimate from individual EKF filter 4 (rad)
AP::logger().Write("XKY0",
"TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4",
"s#rrrrrrr-----",
@ -371,6 +388,20 @@ void NavEKF3::Log_Write_GSF(uint8_t _core, uint64_t time_us) const
wgt[3],
wgt[4]);
// @LoggerMessage: XKY1
// @Description: EKF2 Yaw Estimator Innovations
// @Field: TimeUS: Time since system startup
// @Field: IVN0: North velocity innovation from individual EKF filter 0 (m/s)
// @Field: IVN1: North velocity innovation from individual EKF filter 1 (m/s)
// @Field: IVN2: North velocity innovation from individual EKF filter 2 (m/s)
// @Field: IVN3: North velocity innovation from individual EKF filter 3 (m/s)
// @Field: IVN4: North velocity innovation from individual EKF filter 4 (m/s)
// @Field: IVE0: East velocity innovation from individual EKF filter 0 (m/s)
// @Field: IVE1: East velocity innovation from individual EKF filter 1 (m/s)
// @Field: IVE2: East velocity innovation from individual EKF filter 2 (m/s)
// @Field: IVE3: East velocity innovation from individual EKF filter 3 (m/s)
// @Field: IVE4: East velocity innovation from individual EKF filter 4 (m/s)
AP::logger().Write("XKY1",
"TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4",
"s#nnnnnnnnnn",