mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF : Additional flash logging
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@ -6,10 +6,10 @@
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// uncomment this to force the optimisation of this code, note that
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// this makes debugging harder
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// #pragma GCC optimize("O3")
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#pragma GCC optimize("O3")
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#include "AP_NavEKF.h"
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#include <stdio.h>
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//#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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@ -1923,6 +1923,13 @@ void NavEKF::getAccelBias(Vector3f &accelBias)
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accelBias.z = states[15]*dtIMUAvgInv;
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}
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void NavEKF::getWind(Vector3f &wind)
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{
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wind.x = states[16];
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wind.y = states[17];
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wind.z = 0.0f; // curently don't estimate this
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}
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void NavEKF::getMagNED(Vector3f &magNED)
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{
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magNED.x = states[18]*1000.0f;
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@ -92,6 +92,9 @@ public:
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// return delta velocity bias estimates
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void getAccelBias(Vector3f &accelBias);
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// return the NE wind speed estimates
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void getWind(Vector3f &wind);
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// return earth magnetic field estimates
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void getMagNED(Vector3f &magNED);
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