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AP_AHRS: DCM: log estimated wind

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Peter Barker 2024-10-05 11:06:24 +10:00 committed by Peter Barker
parent 56de7243f5
commit 8487657137
1 changed files with 11 additions and 5 deletions
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16
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -116,18 +116,24 @@ AP_AHRS_DCM::update()
// @Field: Yaw: estimated yaw // @Field: Yaw: estimated yaw
// @Field: ErrRP: lowest estimated gyro drift error // @Field: ErrRP: lowest estimated gyro drift error
// @Field: ErrYaw: difference between measured yaw and DCM yaw estimate // @Field: ErrYaw: difference between measured yaw and DCM yaw estimate
// @Field: VWN: wind velocity, to-the-North component
// @Field: VWE: wind velocity, to-the-East component
// @Field: VWD: wind velocity, Up-to-Down component
AP::logger().WriteStreaming( AP::logger().WriteStreaming(
"DCM", "DCM",
"TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw", "TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw," "VWN," "VWE," "VWD",
"s" "d" "d" "d" "d" "h", "s" "d" "d" "d" "d" "h" "n" "n" "n",
"F" "0" "0" "0" "0" "0", "F" "0" "0" "0" "0" "0" "0" "0" "0",
"Q" "f" "f" "f" "f" "f", "Q" "f" "f" "f" "f" "f" "f" "f" "f",
AP_HAL::micros64(), AP_HAL::micros64(),
degrees(roll), degrees(roll),
degrees(pitch), degrees(pitch),
wrap_360(degrees(yaw)), wrap_360(degrees(yaw)),
get_error_rp(), get_error_rp(),
get_error_yaw() get_error_yaw(),
_wind.x,
_wind.y,
_wind.z
); );
} }
#endif // HAL_LOGGING_ENABLED #endif // HAL_LOGGING_ENABLED