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DataFlash: EKF logging uses nav_filter_status

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Randy Mackay 2015-01-02 17:08:18 +09:00 committed by Andrew Tridgell
parent f4d8bc586c
commit 54cff29fc2
1 changed files with 3 additions and 2 deletions
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5
libraries/DataFlash/LogFile.cpp
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@ -982,7 +982,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
Vector3f magVar; Vector3f magVar;
float tasVar; float tasVar;
Vector2f offset; Vector2f offset;
uint8_t faultStatus, timeoutStatus, solutionStatus; uint8_t faultStatus, timeoutStatus;
nav_filter_status solutionStatus;
ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset); ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
ahrs.get_NavEKF().getFilterFaults(faultStatus); ahrs.get_NavEKF().getFilterFaults(faultStatus);
ahrs.get_NavEKF().getFilterTimeouts(timeoutStatus); ahrs.get_NavEKF().getFilterTimeouts(timeoutStatus);
@ -1001,7 +1002,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
offsetEast : (int8_t)(offset.y), offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus), faults : (uint8_t)(faultStatus),
timeouts : (uint8_t)(timeoutStatus), timeouts : (uint8_t)(timeoutStatus),
solution : (uint8_t)(solutionStatus) solution : (uint8_t)(solutionStatus.value)
}; };
WriteBlock(&pkt4, sizeof(pkt4)); WriteBlock(&pkt4, sizeof(pkt4));