mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: Update flow debug logging
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@ -3612,14 +3612,14 @@ bool NavEKF::getHAGL(float &HAGL) const
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}
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// return data for debugging optical flow fusion
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void NavEKF::getFlowDebug(float &dummy, float &estHAGL, float &flowInnovX, float &flowInnovY, float &flowVarX, float &flowVarY, float &rngInnov, float &range, float &gndOffsetErr) const
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void NavEKF::getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const
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{
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dummy = 0.0f;
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estHAGL = terrainState - state.position.z;
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varFlow = max(flowTestRatio[0],flowTestRatio[1]);
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gndOffset = terrainState;
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flowInnovX = innovOptFlow[0];
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flowInnovY = innovOptFlow[1];
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auxInnovX = auxFlowObsInnov;
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auxInnovY = auxFlowObsInnov;
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auxInnov = auxFlowObsInnov;
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HAGL = terrainState - state.position.z;
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rngInnov = innovRng;
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range = rngMea;
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gndOffsetErr = sqrtf(Popt); // note Popt is constrained to be non-negative in EstimateTerrainOffset()
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@ -171,7 +171,7 @@ public:
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void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange);
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// return data for debugging optical flow fusion
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void getFlowDebug(float &scaleFactor, float &gndPos, float &flowInnovX, float &flowInnovY, float &flowVarX, float &flowVarY, float &rngInnov, float &range, float &gndOffsetErr) const;
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void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const;
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/*
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return the filter fault status as a bitmasked integer
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