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AP_NavEKF3 log position offset as float in meters

This commit is contained in:
Iampete1 2021-02-27 12:40:42 +00:00 committed by Andrew Tridgell
parent 0971ef55a4
commit 8173cd442a
2 changed files with 7 additions and 7 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -162,8 +162,8 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
sqrtvarM : (int16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar),
tiltErr : sqrtf(MAX(tiltErrorVariance,0.0f)), // estimated 1-sigma tilt error in radians
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
offsetNorth : offset.x,
offsetEast : offset.y,
faults : _faultStatus,
timeouts : timeoutStatus,
solution : solutionStatus.value,

10
libraries/AP_NavEKF3/LogStructure.h
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@ -182,8 +182,8 @@ struct PACKED log_XKF3 {
// @Field: SM: Magnetic field variance
// @Field: SVT: Square root of the total airspeed variance
// @Field: errRP: Filtered error in roll/pitch estimate
// @Field: OFN: Most recent position recent magnitude (North component)
// @Field: OFE: Most recent position recent magnitude (East component)
// @Field: OFN: Most recent position reset (North component)
// @Field: OFE: Most recent position reset (East component)
// @Field: FS: Filter fault status
// @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)
// @Field: SS: Filter solution status
@ -199,8 +199,8 @@ struct PACKED log_XKF4 {
int16_t sqrtvarM;
int16_t sqrtvarVT;
float tiltErr;
int8_t offsetNorth;
int8_t offsetEast;
float offsetNorth;
float offsetEast;
uint16_t faults;
uint8_t timeouts;
uint32_t solution;
@ -428,7 +428,7 @@ struct PACKED log_XKV {
{ LOG_XKF3_MSG, sizeof(log_XKF3), \
"XKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \
{ LOG_XKF4_MSG, sizeof(log_XKF4), \
"XKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
"XKF4","QBcccccfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-------??-----" }, \
{ LOG_XKF5_MSG, sizeof(log_XKF5), \
"XKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \
{ LOG_XKFD_MSG, sizeof(log_XKFD), \