diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h index 1706b8f6d2..8ba6fed584 100644 --- a/libraries/DataFlash/DataFlash.h +++ b/libraries/DataFlash/DataFlash.h @@ -506,7 +506,7 @@ struct PACKED log_Esc { { LOG_EKF3_MSG, sizeof(log_EKF3), \ "EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \ { LOG_EKF4_MSG, sizeof(log_EKF4), \ - "EKF4","IcccccccbbBBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS" }, \ + "EKF4","IcccccccbbBBH","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS" }, \ { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \ "TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \ { LOG_UBX1_MSG, sizeof(log_Ubx1), \ diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp index 00fd056078..874fe3abc4 100644 --- a/libraries/DataFlash/LogFile.cpp +++ b/libraries/DataFlash/LogFile.cpp @@ -1002,7 +1002,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled) offsetEast : (int8_t)(offset.y), faults : (uint8_t)(faultStatus), timeouts : (uint8_t)(timeoutStatus), - solution : (uint8_t)(solutionStatus.value) + solution : (uint16_t)(solutionStatus.value) }; WriteBlock(&pkt4, sizeof(pkt4));