From a20729f60f0de884084d634dd8c3fd5dec534a45 Mon Sep 17 00:00:00 2001 From: priseborough Date: Wed, 10 Sep 2014 19:32:43 +1000 Subject: [PATCH] AP_NavEKF : Update names in optical flow debug logging --- libraries/AP_NavEKF/AP_NavEKF.cpp | 10 +++++----- libraries/AP_NavEKF/AP_NavEKF.h | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 4e3af8112f..512a69a91f 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -3557,13 +3557,13 @@ bool NavEKF::getLLH(struct Location &loc) const } // return data for debugging optical flow fusion -void NavEKF::getFlowDebug(float &scaleFactor, float &obsX, float &obsY, float &innovX, float &innovY, float &gndPos, uint8_t &quality) const +void NavEKF::getFlowDebug(float &scaleFactor, float &gndPos, float &flowX, float &flowY, float &omegaX, float &omegaY, uint8_t &quality) const { scaleFactor = flowStates[0]; - obsX = flowRadXY[0]; - obsY = flowRadXY[1]; - innovX = omegaAcrossFlowTime.x;//innovOptFlow[0]; - innovY = omegaAcrossFlowTime.y;//innovOptFlow[1]; + flowX = flowRadXY[0]; + flowY = flowRadXY[1]; + omegaX = omegaAcrossFlowTime.x;; + omegaY = omegaAcrossFlowTime.y;; gndPos = flowStates[1]; quality = flowQuality; } diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h index 72eb0f3ed5..ab1b18e00c 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.h +++ b/libraries/AP_NavEKF/AP_NavEKF.h @@ -163,7 +163,7 @@ public: void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange); // return data for debugging optical flow fusion - void getFlowDebug(float &scaleFactor, float &obsX, float &obsY, float &innovX, float &innovY, float &gndPos, uint8_t &quality) const; + void getFlowDebug(float &scaleFactor, float &gndPos, float &flowX, float &flowY, float &omegaX, float &omegaY, uint8_t &quality) const; /* return the filter fault status as a bitmasked integer