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AP_NavEKF : Additional flash logging

This commit is contained in:
Paul Riseborough 2014-01-31 09:11:54 +11:00 committed by Andrew Tridgell
parent d6ead64083
commit 6b9733c013
2 changed files with 12 additions and 2 deletions
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11
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -6,10 +6,10 @@
// uncomment this to force the optimisation of this code, note that // uncomment this to force the optimisation of this code, note that
// this makes debugging harder // this makes debugging harder
// #pragma GCC optimize("O3") #pragma GCC optimize("O3")
#include "AP_NavEKF.h" #include "AP_NavEKF.h"
#include <stdio.h> //#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -1923,6 +1923,13 @@ void NavEKF::getAccelBias(Vector3f &accelBias)
accelBias.z = states[15]*dtIMUAvgInv; accelBias.z = states[15]*dtIMUAvgInv;
} }
void NavEKF::getWind(Vector3f &wind)
{
wind.x = states[16];
wind.y = states[17];
wind.z = 0.0f; // curently don't estimate this
}
void NavEKF::getMagNED(Vector3f &magNED) void NavEKF::getMagNED(Vector3f &magNED)
{ {
magNED.x = states[18]*1000.0f; magNED.x = states[18]*1000.0f;

3
libraries/AP_NavEKF/AP_NavEKF.h
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@ -92,6 +92,9 @@ public:
// return delta velocity bias estimates // return delta velocity bias estimates
void getAccelBias(Vector3f &accelBias); void getAccelBias(Vector3f &accelBias);
// return the NE wind speed estimates
void getWind(Vector3f &wind);
// return earth magnetic field estimates // return earth magnetic field estimates
void getMagNED(Vector3f &magNED); void getMagNED(Vector3f &magNED);