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AP_NavEKF3: move GSF logging from EKF files into GSF files

This commit is contained in:
Peter Barker 2021-02-18 09:34:14 +11:00 committed by Andrew Tridgell
parent d668243d1e
commit 65b780fad5
2 changed files with 1 additions and 118 deletions
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48
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -423,51 +423,5 @@ void NavEKF3_core::Log_Write_GSF(uint64_t time_us)
if (yawEstimator == nullptr) {
return;
}
float yaw_composite;
float yaw_composite_variance;
float yaw[N_MODELS_EKFGSF];
float ivn[N_MODELS_EKFGSF];
float ive[N_MODELS_EKFGSF];
float wgt[N_MODELS_EKFGSF];
if (!yawEstimator->getLogData(yaw_composite, yaw_composite_variance, yaw, ivn, ive, wgt)) {
return;
}
const struct log_XKY0 xky0{
LOG_PACKET_HEADER_INIT(LOG_XKY0_MSG),
time_us : time_us,
core : DAL_CORE(core_index),
yaw_composite : yaw_composite,
yaw_composite_variance : sqrtf(MAX(yaw_composite_variance, 0.0f)),
yaw0 : yaw[0],
yaw1 : yaw[1],
yaw2 : yaw[2],
yaw3 : yaw[3],
yaw4 : yaw[4],
wgt0 : wgt[0],
wgt1 : wgt[1],
wgt2 : wgt[2],
wgt3 : wgt[3],
wgt4 : wgt[4],
};
AP::logger().WriteBlock(&xky0, sizeof(xky0));
const struct log_XKY1 xky1{
LOG_PACKET_HEADER_INIT(LOG_XKY1_MSG),
time_us : time_us,
core : DAL_CORE(core_index),
ivn0 : ivn[0],
ivn1 : ivn[1],
ivn2 : ivn[2],
ivn3 : ivn[3],
ivn4 : ivn[4],
ive0 : ive[0],
ive1 : ive[1],
ive2 : ive[2],
ive3 : ive[3],
ive4 : ive[4],
};
AP::logger().WriteBlock(&xky1, sizeof(xky1));
yawEstimator->Log_Write(time_us, LOG_XKY0_MSG, LOG_XKY1_MSG, DAL_CORE(core_index));
}

71
libraries/AP_NavEKF3/LogStructure.h
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@ -418,73 +418,6 @@ struct PACKED log_XKV {
float v11;
};
// @LoggerMessage: XKY0
// @Description: EKF3 Yaw Estimator States
// @Field: TimeUS: Time since system startup
// @Field: C: EKF3 core this data is for
// @Field: YC: GSF yaw estimate (rad)
// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad)
// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad)
// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad)
// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad)
// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad)
// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad)
// @Field: W0: Weighting applied to yaw estimate from individual EKF filter 0
// @Field: W1: Weighting applied to yaw estimate from individual EKF filter 1
// @Field: W2: Weighting applied to yaw estimate from individual EKF filter 2
// @Field: W3: Weighting applied to yaw estimate from individual EKF filter 3
// @Field: W4: Weighting applied to yaw estimate from individual EKF filter 4
struct PACKED log_XKY0 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t core;
float yaw_composite;
float yaw_composite_variance;
float yaw0;
float yaw1;
float yaw2;
float yaw3;
float yaw4;
float wgt0;
float wgt1;
float wgt2;
float wgt3;
float wgt4;
};
// @LoggerMessage: XKY1
// @Description: EKF3 Yaw Estimator Innovations
// @Field: TimeUS: Time since system startup
// @Field: C: EKF3 core this data is for
// @Field: IVN0: North velocity innovation from individual EKF filter 0 (m/s)
// @Field: IVN1: North velocity innovation from individual EKF filter 1 (m/s)
// @Field: IVN2: North velocity innovation from individual EKF filter 2 (m/s)
// @Field: IVN3: North velocity innovation from individual EKF filter 3 (m/s)
// @Field: IVN4: North velocity innovation from individual EKF filter 4 (m/s)
// @Field: IVE0: East velocity innovation from individual EKF filter 0 (m/s)
// @Field: IVE1: East velocity innovation from individual EKF filter 1 (m/s)
// @Field: IVE2: East velocity innovation from individual EKF filter 2 (m/s)
// @Field: IVE3: East velocity innovation from individual EKF filter 3 (m/s)
// @Field: IVE4: East velocity innovation from individual EKF filter 4 (m/s)
struct PACKED log_XKY1 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t core;
float ivn0;
float ivn1;
float ivn2;
float ivn3;
float ivn4;
float ive0;
float ive1;
float ive2;
float ive3;
float ive4;
};
#define LOG_STRUCTURE_FROM_NAVEKF3 \
{ LOG_XKF0_MSG, sizeof(log_XKF0), \
"XKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \
@ -509,10 +442,6 @@ struct PACKED log_XKY1 {
"XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"}, \
{ LOG_XKTV_MSG, sizeof(log_XKTV), \
"XKTV", "QBff", "TimeUS,C,TVS,TVD", "s#rr", "F-00"}, \
{ LOG_XKY0_MSG, sizeof(log_XKY0), \
"XKY0", "QBffffffffffff", "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4", "s#rrrrrrr-----", "F-000000000000"}, \
{ LOG_XKY1_MSG, sizeof(log_XKY1), \
"XKY1", "QBffffffffff", "TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4", "s#nnnnnnnnnn", "F-0000000000"}, \
{ LOG_XKV1_MSG, sizeof(log_XKV), \
"XKV1","QBffffffffffff","TimeUS,C,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s#------------", "F-------------" }, \
{ LOG_XKV2_MSG, sizeof(log_XKV), \