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AP_NavEKF: move logging in from AP_Logger

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Peter Barker 2019-08-28 14:09:18 +10:00 committed by Andrew Tridgell
parent 2273ffb267
commit 9e0f525f69
2 changed files with 28 additions and 0 deletions
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25
libraries/AP_NavEKF/AP_Nav_Common.cpp Normal file
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@ -0,0 +1,25 @@
#include "AP_Nav_Common.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
/*
write an EKF timing message
*/
void Log_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing)
{
AP::logger().Write(
name,
"TimeUS,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax",
"QIffffffff",
time_us,
timing.count,
(double)timing.dtIMUavg_min,
(double)timing.dtIMUavg_max,
(double)timing.dtEKFavg_min,
(double)timing.dtEKFavg_max,
(double)timing.delAngDT_min,
(double)timing.delAngDT_max,
(double)timing.delVelDT_min,
(double)timing.delVelDT_max);
}

3
libraries/AP_NavEKF/AP_Nav_Common.h
View File

@ -16,6 +16,8 @@
*/
#pragma once
#include <stdint.h>
union nav_filter_status {
struct {
bool attitude : 1; // 0 - true if attitude estimate is valid
@ -73,3 +75,4 @@ struct ekf_timing {
float delVelDT_max;
float delVelDT_min;
};
void Log_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing);