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AP_NavEKF: GSF logging in deg from 0 to 360

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Randy Mackay 2022-04-16 10:11:32 +09:00 committed by Andrew Tridgell
parent 55517450bc
commit 9d73cfb28f
2 changed files with 15 additions and 15 deletions
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14
libraries/AP_NavEKF/EKFGSF_Logging.cpp
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@ -16,13 +16,13 @@ void EKFGSF_yaw::Log_Write(uint64_t time_us, LogMessages id0, LogMessages id1, u
LOG_PACKET_HEADER_INIT(id0),
time_us : time_us,
core : core_index,
yaw_composite : GSF.yaw,
yaw_composite_variance : sqrtF(MAX(GSF.yaw_variance, 0.0f)),
yaw0 : EKF[0].X[2],
yaw1 : EKF[1].X[2],
yaw2 : EKF[2].X[2],
yaw3 : EKF[3].X[2],
yaw4 : EKF[4].X[2],
yaw_composite : wrap_360(degrees(GSF.yaw)),
yaw_composite_variance : sqrtF(MAX(degrees(GSF.yaw_variance), 0.0f)),
yaw0 : wrap_360(degrees(EKF[0].X[2])),
yaw1 : wrap_360(degrees(EKF[1].X[2])),
yaw2 : wrap_360(degrees(EKF[2].X[2])),
yaw3 : wrap_360(degrees(EKF[3].X[2])),
yaw4 : wrap_360(degrees(EKF[4].X[2])),
wgt0 : GSF.weights[0],
wgt1 : GSF.weights[1],
wgt2 : GSF.weights[2],

16
libraries/AP_NavEKF/LogStructure.h
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@ -6,13 +6,13 @@
// @Description: EKF Yaw Estimator States
// @Field: TimeUS: Time since system startup
// @Field: C: EKF core this data is for
// @Field: YC: GSF yaw estimate (rad)
// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad)
// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad)
// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad)
// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad)
// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad)
// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad)
// @Field: YC: GSF yaw estimate (deg)
// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (deg)
// @Field: Y0: Yaw estimate from individual EKF filter 0 (deg)
// @Field: Y1: Yaw estimate from individual EKF filter 1 (deg)
// @Field: Y2: Yaw estimate from individual EKF filter 2 (deg)
// @Field: Y3: Yaw estimate from individual EKF filter 3 (deg)
// @Field: Y4: Yaw estimate from individual EKF filter 4 (deg)
// @Field: W0: Weighting applied to yaw estimate from individual EKF filter 0
// @Field: W1: Weighting applied to yaw estimate from individual EKF filter 1
// @Field: W2: Weighting applied to yaw estimate from individual EKF filter 2
@ -69,7 +69,7 @@ struct PACKED log_KY1 {
#define KY0_FMT "QBffffffffffff"
#define KY0_LABELS "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4"
#define KY0_UNITS "s#rrrrrrr-----"
#define KY0_UNITS "s#hdhhhhh-----"
#define KY0_MULTS "F-000000000000"
#define KY1_FMT "QBffffffffff"