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AP_NavEKF2: fixed gaps in EKF logging

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timestamps should not be static as otherwise some lanes will not be
logged
This commit is contained in:
Andrew Tridgell 2021-12-27 09:07:02 +11:00 committed by Peter Barker
parent 281f041abb
commit 52209d9d1a
2 changed files with 3 additions and 1 deletions
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1
libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
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@ -252,7 +252,6 @@ void NavEKF2_core::Log_Write_Beacon(uint64_t time_us)
void NavEKF2_core::Log_Write_Timing(uint64_t time_us) void NavEKF2_core::Log_Write_Timing(uint64_t time_us)
{ {
// log EKF timing statistics every 5s // log EKF timing statistics every 5s
static uint32_t lastTimingLogTime_ms = 0;
if (AP::dal().millis() - lastTimingLogTime_ms <= 5000) { if (AP::dal().millis() - lastTimingLogTime_ms <= 5000) {
return; return;
} }

3
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -1178,6 +1178,9 @@ private:
uint8_t EKFGSF_yaw_reset_count; // number of emergency yaw resets performed uint8_t EKFGSF_yaw_reset_count; // number of emergency yaw resets performed
bool EKFGSF_run_filterbank; // true when the filter bank is active bool EKFGSF_run_filterbank; // true when the filter bank is active
// logging timestamps
uint32_t lastTimingLogTime_ms;
// logging functions shared by cores: // logging functions shared by cores:
void Log_Write_NKF1(uint64_t time_us) const; void Log_Write_NKF1(uint64_t time_us) const;
void Log_Write_NKF2(uint64_t time_us) const; void Log_Write_NKF2(uint64_t time_us) const;