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DataFlash : Update names in EKF optical flow logging

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priseborough 2014-09-10 19:37:33 +10:00 committed by Andrew Tridgell
parent a20729f60f
commit a07e402ebf
2 changed files with 12 additions and 12 deletions
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10
libraries/DataFlash/DataFlash.h
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@ -350,10 +350,10 @@ struct PACKED log_EKF4 {
struct PACKED log_EKF5 {
LOG_PACKET_HEADER;
uint32_t time_ms;
float obsX;
float obsY;
float innovX;
float innovY;
float flowX;
float flowY;
float omegaX;
float omegaY;
float gndPos;
uint8_t scaler;
uint8_t quality;
@ -528,7 +528,7 @@ struct PACKED log_Esc {
{ LOG_ESC8_MSG, sizeof(log_Esc), \
"ESC8", "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \
{ LOG_EKF5_MSG, sizeof(log_EKF5), \
"EKF5","IfffffBB","TimeMS,FX,FY,IFX,IFY,GP,SF,Q" }
"EKF5","IfffffBB","TimeMS,flowX,flowY,omegaX,omegaY,gndPos,fScaler,flowQual" }
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES

14
libraries/DataFlash/LogFile.cpp
View File

@ -996,17 +996,17 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
// Write fifth EKF packet
float fscale;
float gndPos;
float obsX, obsY;
float innovX, innovY;
float flowX, flowY;
float omegaX, omegaY;
uint8_t flowQual;
ahrs.get_NavEKF().getFlowDebug(fscale, obsX, obsY, innovX, innovY, gndPos, flowQual);
ahrs.get_NavEKF().getFlowDebug(fscale, gndPos, flowX, flowY, omegaX, omegaY, flowQual);
struct log_EKF5 pkt5 = {
LOG_PACKET_HEADER_INIT(LOG_EKF5_MSG),
time_ms : hal.scheduler->millis(),
obsX : (float)(obsX),
obsY : (float)(obsY),
innovX : (float)(innovX),
innovY : (float)(innovY),
flowX : (float)(flowX),
flowY : (float)(flowY),
omegaX : (float)(omegaX),
omegaY : (float)(omegaY),
gndPos : (float)(gndPos),
scaler: (uint8_t)(100*fscale),
quality : (uint8_t)(flowQual)