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AP_NavEKF2: Add documentation for GSF logging
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@ -280,6 +280,22 @@ void NavEKF2::Log_Write_GSF(uint8_t _core, uint64_t time_us) const
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float ive[N_MODELS_EKFGSF];
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float wgt[N_MODELS_EKFGSF];
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// @LoggerMessage: NKY0
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// @Description: EKF2 Yaw Estimator States
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// @Field: TimeUS: Time since system startup
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// @Field: YC: GSF yaw estimate (rad)
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// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad)
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// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad)
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// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad)
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// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad)
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// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad)
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// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad)
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// @Field: W0: Weighting applied to yaw estimate from individual EKF filter 0 (rad)
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// @Field: W1: Weighting applied to yaw estimate from individual EKF filter 1 (rad)
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// @Field: W2: Weighting applied to yaw estimate from individual EKF filter 2 (rad)
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// @Field: W3: Weighting applied to yaw estimate from individual EKF filter 3 (rad)
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// @Field: W4: Weighting applied to yaw estimate from individual EKF filter 4 (rad)
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if (getDataEKFGSF(_core, yaw_composite, yaw_composite_variance, yaw, ivn, ive, wgt)) {
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AP::logger().Write("NKY0",
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"TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4",
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@ -301,6 +317,20 @@ void NavEKF2::Log_Write_GSF(uint8_t _core, uint64_t time_us) const
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wgt[3],
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wgt[4]);
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// @LoggerMessage: NKY1
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// @Description: EKF2 Yaw Estimator Innovations
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// @Field: TimeUS: Time since system startup
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// @Field: IVN0: North velocity innovation from individual EKF filter 0 (m/s)
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// @Field: IVN1: North velocity innovation from individual EKF filter 1 (m/s)
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// @Field: IVN2: North velocity innovation from individual EKF filter 2 (m/s)
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// @Field: IVN3: North velocity innovation from individual EKF filter 3 (m/s)
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// @Field: IVN4: North velocity innovation from individual EKF filter 4 (m/s)
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// @Field: IVE0: East velocity innovation from individual EKF filter 0 (m/s)
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// @Field: IVE1: East velocity innovation from individual EKF filter 1 (m/s)
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// @Field: IVE2: East velocity innovation from individual EKF filter 2 (m/s)
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// @Field: IVE3: East velocity innovation from individual EKF filter 3 (m/s)
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// @Field: IVE4: East velocity innovation from individual EKF filter 4 (m/s)
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AP::logger().Write("NKY1",
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"TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4",
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"s#nnnnnnnnnn",
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