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AP_Logger: Log GPS yaw accuracy

This commit is contained in:
Michael du Breuil 2019-09-03 12:40:48 -07:00 committed by Andrew Tridgell
parent 7b9d3594fb
commit 624ed28ef8
2 changed files with 6 additions and 4 deletions
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1
libraries/AP_Logger/LogFile.cpp
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@ -173,6 +173,7 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
hacc : (uint16_t)MIN((hacc*100), UINT16_MAX), hacc : (uint16_t)MIN((hacc*100), UINT16_MAX),
vacc : (uint16_t)MIN((vacc*100), UINT16_MAX), vacc : (uint16_t)MIN((vacc*100), UINT16_MAX),
sacc : (uint16_t)MIN((sacc*100), UINT16_MAX), sacc : (uint16_t)MIN((sacc*100), UINT16_MAX),
yaw_accuracy : yaw_accuracy_deg,
have_vv : (uint8_t)gps.have_vertical_velocity(i), have_vv : (uint8_t)gps.have_vertical_velocity(i),
sample_ms : gps.last_message_time_ms(i), sample_ms : gps.last_message_time_ms(i),
delta_ms : gps.last_message_delta_time_ms(i) delta_ms : gps.last_message_delta_time_ms(i)

9
libraries/AP_Logger/LogStructure.h
View File

@ -223,6 +223,7 @@ struct PACKED log_GPA {
uint16_t hacc; uint16_t hacc;
uint16_t vacc; uint16_t vacc;
uint16_t sacc; uint16_t sacc;
float yaw_accuracy;
uint8_t have_vv; uint8_t have_vv;
uint32_t sample_ms; uint32_t sample_ms;
uint16_t delta_ms; uint16_t delta_ms;
@ -1223,10 +1224,10 @@ struct PACKED log_Arm_Disarm {
#define ESC_UNITS "sqvAO-" #define ESC_UNITS "sqvAO-"
#define ESC_MULTS "FBBBB-" #define ESC_MULTS "FBBBB-"
#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,VV,SMS,Delta" #define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta"
#define GPA_FMT "QCCCCBIH" #define GPA_FMT "QCCCCfBIH"
#define GPA_UNITS "smmmn-ss" #define GPA_UNITS "smmmnd-ss"
#define GPA_MULTS "FBBBB-CC" #define GPA_MULTS "FBBBB0-CC"
// see "struct GPS_State" and "Write_GPS": // see "struct GPS_State" and "Write_GPS":
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U" #define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U"