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AP_GPS: added GPYW logging for GPS yaw

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this makes it much easier to debug GPS yaw issues, by logging the raw
data even if the yaw is rejected
This commit is contained in:
Andrew Tridgell 2022-11-28 11:27:16 +11:00
parent c453ff1ce2
commit 29f1c31854
2 changed files with 22 additions and 4 deletions
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4
libraries/AP_GPS/AP_GPS_NMEA.cpp
View File

@ -470,7 +470,9 @@ bool AP_GPS_NMEA::_term_complete()
const float dist = state.location.get_distance_NED(slave).length();
const float bearing = degrees(state.location.get_bearing(slave));
const float alt_diff = (state.location.alt - slave.alt)*0.01;
calculate_moving_base_yaw(bearing, dist, alt_diff);
if (calculate_moving_base_yaw(bearing, dist, alt_diff)) {
_last_yaw_ms = now;
}
state.gps_yaw_configured = true;
#endif
} else {

22
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -425,13 +425,29 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
interim_state.have_gps_yaw = true;
interim_state.gps_yaw_time_ms = AP_HAL::millis();
}
goto good_yaw;
}
return true;
bad_yaw:
interim_state.have_gps_yaw = false;
return false;
good_yaw:
#if HAL_LOGGING_ENABLED
// this log message helps diagnose GPS yaw issues
AP::logger().WriteStreaming("GPYW", "TimeUS,Id,RHD,RDist,RDown,OK",
"s#dmm-",
"F-----",
"QBfffB",
AP_HAL::micros64(),
state.instance,
reported_heading_deg,
reported_distance,
reported_D,
interim_state.have_gps_yaw);
#endif
return interim_state.have_gps_yaw;
}
#endif // GPS_MOVING_BASELINE