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https://github.com/ArduPilot/ardupilot
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DataFlash : Update names in EKF optical flow logging
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@ -350,10 +350,10 @@ struct PACKED log_EKF4 {
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struct PACKED log_EKF5 {
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struct PACKED log_EKF5 {
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LOG_PACKET_HEADER;
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LOG_PACKET_HEADER;
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uint32_t time_ms;
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uint32_t time_ms;
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float obsX;
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float flowX;
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float obsY;
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float flowY;
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float innovX;
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float omegaX;
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float innovY;
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float omegaY;
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float gndPos;
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float gndPos;
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uint8_t scaler;
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uint8_t scaler;
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uint8_t quality;
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uint8_t quality;
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@ -528,7 +528,7 @@ struct PACKED log_Esc {
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{ LOG_ESC8_MSG, sizeof(log_Esc), \
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{ LOG_ESC8_MSG, sizeof(log_Esc), \
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"ESC8", "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \
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"ESC8", "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \
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{ LOG_EKF5_MSG, sizeof(log_EKF5), \
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{ LOG_EKF5_MSG, sizeof(log_EKF5), \
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"EKF5","IfffffBB","TimeMS,FX,FY,IFX,IFY,GP,SF,Q" }
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"EKF5","IfffffBB","TimeMS,flowX,flowY,omegaX,omegaY,gndPos,fScaler,flowQual" }
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
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#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
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@ -996,17 +996,17 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
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// Write fifth EKF packet
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// Write fifth EKF packet
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float fscale;
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float fscale;
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float gndPos;
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float gndPos;
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float obsX, obsY;
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float flowX, flowY;
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float innovX, innovY;
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float omegaX, omegaY;
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uint8_t flowQual;
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uint8_t flowQual;
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ahrs.get_NavEKF().getFlowDebug(fscale, obsX, obsY, innovX, innovY, gndPos, flowQual);
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ahrs.get_NavEKF().getFlowDebug(fscale, gndPos, flowX, flowY, omegaX, omegaY, flowQual);
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struct log_EKF5 pkt5 = {
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struct log_EKF5 pkt5 = {
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LOG_PACKET_HEADER_INIT(LOG_EKF5_MSG),
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LOG_PACKET_HEADER_INIT(LOG_EKF5_MSG),
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time_ms : hal.scheduler->millis(),
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time_ms : hal.scheduler->millis(),
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obsX : (float)(obsX),
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flowX : (float)(flowX),
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obsY : (float)(obsY),
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flowY : (float)(flowY),
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innovX : (float)(innovX),
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omegaX : (float)(omegaX),
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innovY : (float)(innovY),
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omegaY : (float)(omegaY),
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gndPos : (float)(gndPos),
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gndPos : (float)(gndPos),
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scaler: (uint8_t)(100*fscale),
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scaler: (uint8_t)(100*fscale),
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quality : (uint8_t)(flowQual)
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quality : (uint8_t)(flowQual)
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