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AP_NavEKF3: Corrected logged units

This commit is contained in:
George Zogopoulos 2024-07-25 13:00:31 +02:00 committed by Andrew Tridgell
parent 7eb9bfc54e
commit 1f01f75036
2 changed files with 11 additions and 11 deletions
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10
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -165,11 +165,11 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG), LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
time_us : time_us, time_us : time_us,
core : DAL_CORE(core_index), core : DAL_CORE(core_index),
sqrtvarV : (int16_t)(100*velVar), sqrtvarV : (uint16_t)(100*velVar),
sqrtvarP : (int16_t)(100*posVar), sqrtvarP : (uint16_t)(100*posVar),
sqrtvarH : (int16_t)(100*hgtVar), sqrtvarH : (uint16_t)(100*hgtVar),
sqrtvarM : (int16_t)(100*tempVar), sqrtvarM : (uint16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar), sqrtvarVT : (uint16_t)(100*tasVar),
tiltErr : sqrtF(MAX(tiltErrorVariance,0.0f)), // estimated 1-sigma tilt error in radians tiltErr : sqrtF(MAX(tiltErrorVariance,0.0f)), // estimated 1-sigma tilt error in radians
offsetNorth : offset.x, offsetNorth : offset.x,
offsetEast : offset.y, offsetEast : offset.y,

12
libraries/AP_NavEKF3/LogStructure.h
View File

@ -193,11 +193,11 @@ struct PACKED log_XKF4 {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
uint8_t core; uint8_t core;
int16_t sqrtvarV; uint16_t sqrtvarV;
int16_t sqrtvarP; uint16_t sqrtvarP;
int16_t sqrtvarH; uint16_t sqrtvarH;
int16_t sqrtvarM; uint16_t sqrtvarM;
int16_t sqrtvarVT; uint16_t sqrtvarVT;
float tiltErr; float tiltErr;
float offsetNorth; float offsetNorth;
float offsetEast; float offsetEast;
@ -437,7 +437,7 @@ struct PACKED log_XKV {
{ LOG_XKF3_MSG, sizeof(log_XKF3), \ { 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 }, \ "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), \ { LOG_XKF4_MSG, sizeof(log_XKF4), \
"XKF4","QBcccccfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-------??-----" , true }, \ "XKF4","QBHHHHHfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-BBBBB-??-----" , true }, \
{ LOG_XKF5_MSG, sizeof(log_XKF5), \ { 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 }, \ "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), \ { LOG_XKFD_MSG, sizeof(log_XKFD), \