From 18e95c7979a506dae26bdef9710dc3b8dafb698d Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Wed, 4 Sep 2024 13:28:12 +0200 Subject: [PATCH] Revert "AP_NavEKF3: Corrected logged units" This reverts commit 1f01f750360d197f0a631db15510da6062e45b19. --- libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp | 10 +++++----- libraries/AP_NavEKF3/LogStructure.h | 12 ++++++------ 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp index 03e23b7ab8..50fa12558d 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp @@ -165,11 +165,11 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG), time_us : time_us, core : DAL_CORE(core_index), - sqrtvarV : (uint16_t)(100*velVar), - sqrtvarP : (uint16_t)(100*posVar), - sqrtvarH : (uint16_t)(100*hgtVar), - sqrtvarM : (uint16_t)(100*tempVar), - sqrtvarVT : (uint16_t)(100*tasVar), + sqrtvarV : (int16_t)(100*velVar), + sqrtvarP : (int16_t)(100*posVar), + sqrtvarH : (int16_t)(100*hgtVar), + sqrtvarM : (int16_t)(100*tempVar), + sqrtvarVT : (int16_t)(100*tasVar), tiltErr : sqrtF(MAX(tiltErrorVariance,0.0f)), // estimated 1-sigma tilt error in radians offsetNorth : offset.x, offsetEast : offset.y, diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h index 256cf0468b..a5629ea3f3 100644 --- a/libraries/AP_NavEKF3/LogStructure.h +++ b/libraries/AP_NavEKF3/LogStructure.h @@ -193,11 +193,11 @@ struct PACKED log_XKF4 { LOG_PACKET_HEADER; uint64_t time_us; uint8_t core; - uint16_t sqrtvarV; - uint16_t sqrtvarP; - uint16_t sqrtvarH; - uint16_t sqrtvarM; - uint16_t sqrtvarVT; + int16_t sqrtvarV; + int16_t sqrtvarP; + int16_t sqrtvarH; + int16_t sqrtvarM; + int16_t sqrtvarVT; float tiltErr; float offsetNorth; float offsetEast; @@ -437,7 +437,7 @@ struct PACKED log_XKV { { LOG_XKF3_MSG, sizeof(log_XKF3), \ "XKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGGd?--", "F-BBBBBBCCCBB00" , true }, \ { LOG_XKF4_MSG, sizeof(log_XKF4), \ - "XKF4","QBHHHHHfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-BBBBB-??-----" , true }, \ + "XKF4","QBcccccfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-------??-----" , true }, \ { LOG_XKF5_MSG, sizeof(log_XKF5), \ "XKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" , true }, \ { LOG_XKFD_MSG, sizeof(log_XKFD), \