From a07e402ebf55aafb37a86689b21c4721a8bbc4a5 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 10 Sep 2014 19:37:33 +1000
Subject: [PATCH] DataFlash : Update names in EKF optical flow logging

---
 libraries/DataFlash/DataFlash.h | 10 +++++-----
 libraries/DataFlash/LogFile.cpp | 14 +++++++-------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index d6abe9f029..68c89c0913 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -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
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 28391b904b..1580262f38 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -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)