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AP_NavEKF2: log position offset as float in meters

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Iampete1 2021-02-27 12:41:07 +00:00 committed by Andrew Tridgell
parent 8173cd442a
commit 3306484023
2 changed files with 7 additions and 7 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
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@ -143,8 +143,8 @@ void NavEKF2_core::Log_Write_NKF4(uint64_t time_us) const
sqrtvarM : (int16_t)(100*tempVar), sqrtvarM : (int16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar), sqrtvarVT : (int16_t)(100*tasVar),
tiltErr : tiltErrFilt, // tilt error convergence metric tiltErr : tiltErrFilt, // tilt error convergence metric
offsetNorth : (int8_t)(offset.x), offsetNorth : offset.x,
offsetEast : (int8_t)(offset.y), offsetEast : offset.y,
faults : _faultStatus, faults : _faultStatus,
timeouts : (uint8_t)(timeoutStatus), timeouts : (uint8_t)(timeoutStatus),
solution : (uint32_t)(solutionStatus.value), solution : (uint32_t)(solutionStatus.value),

10
libraries/AP_NavEKF2/LogStructure.h
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@ -175,8 +175,8 @@ struct PACKED log_NKF3 {
// @Field: SM: Magnetic field variance // @Field: SM: Magnetic field variance
// @Field: SVT: tilt error convergence metric // @Field: SVT: tilt error convergence metric
// @Field: errRP: Filtered error in roll/pitch estimate // @Field: errRP: Filtered error in roll/pitch estimate
// @Field: OFN: Most recent position recent magnitude (North component) // @Field: OFN: Most recent position reset (North component)
// @Field: OFE: Most recent position recent magnitude (East component) // @Field: OFE: Most recent position reset (East component)
// @Field: FS: Filter fault status // @Field: FS: Filter fault status
// @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement) // @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)
// @Field: SS: Filter solution status // @Field: SS: Filter solution status
@ -192,8 +192,8 @@ struct PACKED log_NKF4 {
int16_t sqrtvarM; int16_t sqrtvarM;
int16_t sqrtvarVT; int16_t sqrtvarVT;
float tiltErr; float tiltErr;
int8_t offsetNorth; float offsetNorth;
int8_t offsetEast; float offsetEast;
uint16_t faults; uint16_t faults;
uint8_t timeouts; uint8_t timeouts;
uint32_t solution; uint32_t solution;
@ -293,7 +293,7 @@ struct PACKED log_NKT {
{ LOG_NKF3_MSG, sizeof(log_NKF3), \ { LOG_NKF3_MSG, sizeof(log_NKF3), \
"NKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \ "NKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \
{ LOG_NKF4_MSG, sizeof(log_NKF4), \ { LOG_NKF4_MSG, sizeof(log_NKF4), \
"NKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \ "NKF4","QBcccccfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-------??-----" }, \
{ LOG_NKF5_MSG, sizeof(log_NKF5), \ { LOG_NKF5_MSG, sizeof(log_NKF5), \
"NKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \ "NKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \
{ LOG_NKQ_MSG, sizeof(log_NKQ), "NKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" }, \ { LOG_NKQ_MSG, sizeof(log_NKQ), "NKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" }, \