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DataFlash : Remove unused numerical divergence metric

This commit is contained in:
priseborough 2014-10-14 18:26:45 +11:00 committed by Andrew Tridgell
parent 210f4397da
commit aca78d321f
2 changed files with 3 additions and 6 deletions
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3
libraries/DataFlash/DataFlash.h
View File

@ -338,7 +338,6 @@ struct PACKED log_EKF4 {
int8_t offsetNorth;
int8_t offsetEast;
uint8_t faults;
uint8_t divergeRate;
};
struct PACKED log_Cmd {
@ -466,7 +465,7 @@ struct PACKED log_Ubx2 {
{ LOG_EKF3_MSG, sizeof(log_EKF3), \
"EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
{ LOG_EKF4_MSG, sizeof(log_EKF4), \
"EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }, \
"EKF4","IcccccccbbB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
{ LOG_UBX1_MSG, sizeof(log_Ubx1), \

6
libraries/DataFlash/LogFile.cpp
View File

@ -971,9 +971,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
float tasVar;
Vector2f offset;
uint8_t faultStatus;
float deltaGyroBias;
ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
ahrs.get_NavEKF().getFilterFaults(faultStatus, deltaGyroBias);
ahrs.get_NavEKF().getFilterFaults(faultStatus);
struct log_EKF4 pkt4 = {
LOG_PACKET_HEADER_INIT(LOG_EKF4_MSG),
time_ms : hal.scheduler->millis(),
@ -986,8 +985,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
sqrtvarVT : (int16_t)(100*tasVar),
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus),
divergeRate : (uint8_t)(100*deltaGyroBias)
faults : (uint8_t)(faultStatus)
};
WriteBlock(&pkt4, sizeof(pkt4));
}