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DataFlash: use new interface functions for EKF IMU weighting and accel biases

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Jonathan Challinger 2014-10-29 23:43:58 -07:00 committed by Andrew Tridgell
parent 967986d5c6
commit 84da5d2d98
1 changed files with 7 additions and 5 deletions
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12
libraries/DataFlash/LogFile.cpp
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@ -916,20 +916,22 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
WriteBlock(&pkt, sizeof(pkt));
// Write second EKF packet
Vector3f accelBias;
float ratio;
float az1bias, az2bias;
Vector3f wind;
Vector3f magNED;
Vector3f magXYZ;
ahrs.get_NavEKF().getAccelBias(accelBias);
ahrs.get_NavEKF().getIMU1Weighting(ratio);
ahrs.get_NavEKF().getAccelZBias(az1bias, az2bias);
ahrs.get_NavEKF().getWind(wind);
ahrs.get_NavEKF().getMagNED(magNED);
ahrs.get_NavEKF().getMagXYZ(magXYZ);
struct log_EKF2 pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_EKF2_MSG),
time_ms : hal.scheduler->millis(),
Ratio : (int8_t)(100*accelBias.x),
AZ1bias : (int8_t)(100*accelBias.z),
AZ2bias : (int8_t)(100*accelBias.y),
Ratio : (int8_t)(100*ratio),
AZ1bias : (int8_t)(100*az2bias),
AZ2bias : (int8_t)(100*az2bias),
windN : (int16_t)(100*wind.x),
windE : (int16_t)(100*wind.y),
magN : (int16_t)(magNED.x),