mirror of https://github.com/ArduPilot/ardupilot
DataFlash: Add EKF3 and remove EKF1
This commit is contained in:
Andrew Tridgell
parent
75688c8342
commit
b00ec26957
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@ -123,7 +123,9 @@ public:
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void Log_Write_AHRS2(AP_AHRS &ahrs);
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void Log_Write_AHRS2(AP_AHRS &ahrs);
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void Log_Write_POS(AP_AHRS &ahrs);
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void Log_Write_POS(AP_AHRS &ahrs);
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#if AP_AHRS_NAVEKF_AVAILABLE
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#if AP_AHRS_NAVEKF_AVAILABLE
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void Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
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void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
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void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
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void Log_Write_EKF3(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
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#endif
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#endif
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bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
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bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
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void Log_Write_Radio(const mavlink_radio_t &packet);
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void Log_Write_Radio(const mavlink_radio_t &packet);
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@ -1122,6 +1122,18 @@ void DataFlash_Class::Log_Write_POS(AP_AHRS &ahrs)
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}
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}
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#if AP_AHRS_NAVEKF_AVAILABLE
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#if AP_AHRS_NAVEKF_AVAILABLE
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void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
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{
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// only log EKF2 if enabled
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if (ahrs.get_NavEKF2().activeCores() > 0) {
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Log_Write_EKF2(ahrs, optFlowEnabled);
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}
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// only log EKF3 if enabled
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if (ahrs.get_NavEKF3().activeCores() > 0) {
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Log_Write_EKF3(ahrs, optFlowEnabled);
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}
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}
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void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
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void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
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{
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{
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uint64_t time_us = AP_HAL::micros64();
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uint64_t time_us = AP_HAL::micros64();
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@ -1415,6 +1427,294 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
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}
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}
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}
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}
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}
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}
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void DataFlash_Class::Log_Write_EKF3(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
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{
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uint64_t time_us = AP_HAL::micros64();
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// Write first EKF packet
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Vector3f euler;
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Vector2f posNE;
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float posD;
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Vector3f velNED;
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Vector3f dAngBias;
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Vector3f dVelBias;
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Vector3f gyroBias;
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float posDownDeriv;
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ahrs.get_NavEKF3().getEulerAngles(0,euler);
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ahrs.get_NavEKF3().getVelNED(0,velNED);
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ahrs.get_NavEKF3().getPosNE(0,posNE);
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ahrs.get_NavEKF3().getPosD(0,posD);
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ahrs.get_NavEKF3().getGyroBias(0,gyroBias);
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posDownDeriv = ahrs.get_NavEKF3().getPosDownDerivative(0);
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struct log_EKF1 pkt = {
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LOG_PACKET_HEADER_INIT(LOG_XKF1_MSG),
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time_us : time_us,
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roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
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pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
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yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
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velN : (float)(velNED.x), // velocity North (m/s)
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velE : (float)(velNED.y), // velocity East (m/s)
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velD : (float)(velNED.z), // velocity Down (m/s)
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posD_dot : (float)(posDownDeriv), // first derivative of down position
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posN : (float)(posNE.x), // metres North
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posE : (float)(posNE.y), // metres East
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posD : (float)(posD), // metres Down
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gyrX : (int16_t)(100*degrees(gyroBias.x)), // cd/sec, displayed as deg/sec due to format string
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gyrY : (int16_t)(100*degrees(gyroBias.y)), // cd/sec, displayed as deg/sec due to format string
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gyrZ : (int16_t)(100*degrees(gyroBias.z)) // cd/sec, displayed as deg/sec due to format string
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};
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WriteBlock(&pkt, sizeof(pkt));
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// Write second EKF packet
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Vector3f accelBias;
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Vector3f wind;
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Vector3f magNED;
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Vector3f magXYZ;
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uint8_t magIndex = ahrs.get_NavEKF3().getActiveMag(0);
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ahrs.get_NavEKF3().getAccelBias(0,accelBias);
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ahrs.get_NavEKF3().getWind(0,wind);
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ahrs.get_NavEKF3().getMagNED(0,magNED);
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ahrs.get_NavEKF3().getMagXYZ(0,magXYZ);
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struct log_NKF2a pkt2 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF2_MSG),
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time_us : time_us,
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accBiasX : (int16_t)(100*accelBias.x),
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accBiasY : (int16_t)(100*accelBias.y),
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accBiasZ : (int16_t)(100*accelBias.z),
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windN : (int16_t)(100*wind.x),
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windE : (int16_t)(100*wind.y),
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magN : (int16_t)(magNED.x),
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magE : (int16_t)(magNED.y),
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magD : (int16_t)(magNED.z),
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magX : (int16_t)(magXYZ.x),
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magY : (int16_t)(magXYZ.y),
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magZ : (int16_t)(magXYZ.z),
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index : (uint8_t)(magIndex)
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};
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WriteBlock(&pkt2, sizeof(pkt2));
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// Write third EKF packet
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Vector3f velInnov;
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Vector3f posInnov;
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Vector3f magInnov;
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float tasInnov = 0;
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float yawInnov = 0;
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ahrs.get_NavEKF3().getInnovations(0,velInnov, posInnov, magInnov, tasInnov, yawInnov);
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struct log_NKF3 pkt3 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF3_MSG),
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time_us : time_us,
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innovVN : (int16_t)(100*velInnov.x),
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innovVE : (int16_t)(100*velInnov.y),
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innovVD : (int16_t)(100*velInnov.z),
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innovPN : (int16_t)(100*posInnov.x),
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innovPE : (int16_t)(100*posInnov.y),
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innovPD : (int16_t)(100*posInnov.z),
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innovMX : (int16_t)(magInnov.x),
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innovMY : (int16_t)(magInnov.y),
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innovMZ : (int16_t)(magInnov.z),
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innovYaw : (int16_t)(100*degrees(yawInnov)),
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innovVT : (int16_t)(100*tasInnov)
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};
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WriteBlock(&pkt3, sizeof(pkt3));
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// Write fourth EKF packet
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float velVar = 0;
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float posVar = 0;
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float hgtVar = 0;
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Vector3f magVar;
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float tasVar = 0;
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Vector2f offset;
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uint16_t faultStatus=0;
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uint8_t timeoutStatus=0;
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nav_filter_status solutionStatus {};
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nav_gps_status gpsStatus {};
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ahrs.get_NavEKF3().getVariances(0,velVar, posVar, hgtVar, magVar, tasVar, offset);
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float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
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ahrs.get_NavEKF3().getFilterFaults(0,faultStatus);
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ahrs.get_NavEKF3().getFilterTimeouts(0,timeoutStatus);
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ahrs.get_NavEKF3().getFilterStatus(0,solutionStatus);
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ahrs.get_NavEKF3().getFilterGpsStatus(0,gpsStatus);
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float tiltError;
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ahrs.get_NavEKF3().getTiltError(0,tiltError);
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uint8_t primaryIndex = ahrs.get_NavEKF3().getPrimaryCoreIndex();
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struct log_NKF4 pkt4 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
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time_us : time_us,
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sqrtvarV : (int16_t)(100*velVar),
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sqrtvarP : (int16_t)(100*posVar),
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sqrtvarH : (int16_t)(100*hgtVar),
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sqrtvarM : (int16_t)(100*tempVar),
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sqrtvarVT : (int16_t)(100*tasVar),
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tiltErr : (float)tiltError,
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offsetNorth : (int8_t)(offset.x),
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offsetEast : (int8_t)(offset.y),
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faults : (uint16_t)(faultStatus),
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timeouts : (uint8_t)(timeoutStatus),
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solution : (uint16_t)(solutionStatus.value),
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gps : (uint16_t)(gpsStatus.value),
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primary : (int8_t)primaryIndex
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};
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WriteBlock(&pkt4, sizeof(pkt4));
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// Write fifth EKF packet - take data from the primary instance
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float normInnov=0; // normalised innovation variance ratio for optical flow observations fused by the main nav filter
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float gndOffset=0; // estimated vertical position of the terrain relative to the nav filter zero datum
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float flowInnovX=0, flowInnovY=0; // optical flow LOS rate vector innovations from the main nav filter
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float auxFlowInnov=0; // optical flow LOS rate innovation from terrain offset estimator
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float HAGL=0; // height above ground level
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float rngInnov=0; // range finder innovations
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float range=0; // measured range
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float gndOffsetErr=0; // filter ground offset state error
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Vector3f predictorErrors; // output predictor angle, velocity and position tracking error
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ahrs.get_NavEKF3().getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
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ahrs.get_NavEKF3().getOutputTrackingError(-1,predictorErrors);
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struct log_NKF5 pkt5 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF5_MSG),
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time_us : time_us,
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normInnov : (uint8_t)(MIN(100*normInnov,255)),
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FIX : (int16_t)(1000*flowInnovX),
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FIY : (int16_t)(1000*flowInnovY),
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AFI : (int16_t)(1000*auxFlowInnov),
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HAGL : (int16_t)(100*HAGL),
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offset : (int16_t)(100*gndOffset),
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RI : (int16_t)(100*rngInnov),
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meaRng : (uint16_t)(100*range),
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errHAGL : (uint16_t)(100*gndOffsetErr),
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angErr : (float)predictorErrors.x,
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velErr : (float)predictorErrors.y,
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posErr : (float)predictorErrors.z
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};
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WriteBlock(&pkt5, sizeof(pkt5));
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// log innovations for the second IMU if enabled
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if (ahrs.get_NavEKF3().activeCores() >= 2) {
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// Write 6th EKF packet
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ahrs.get_NavEKF3().getEulerAngles(1,euler);
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ahrs.get_NavEKF3().getVelNED(1,velNED);
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ahrs.get_NavEKF3().getPosNE(1,posNE);
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ahrs.get_NavEKF3().getPosD(1,posD);
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ahrs.get_NavEKF3().getGyroBias(1,gyroBias);
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posDownDeriv = ahrs.get_NavEKF3().getPosDownDerivative(1);
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struct log_EKF1 pkt6 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF6_MSG),
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time_us : time_us,
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roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
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pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
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yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
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velN : (float)(velNED.x), // velocity North (m/s)
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velE : (float)(velNED.y), // velocity East (m/s)
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velD : (float)(velNED.z), // velocity Down (m/s)
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posD_dot : (float)(posDownDeriv), // first derivative of down position
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posN : (float)(posNE.x), // metres North
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posE : (float)(posNE.y), // metres East
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posD : (float)(posD), // metres Down
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gyrX : (int16_t)(100*degrees(gyroBias.x)), // cd/sec, displayed as deg/sec due to format string
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gyrY : (int16_t)(100*degrees(gyroBias.y)), // cd/sec, displayed as deg/sec due to format string
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gyrZ : (int16_t)(100*degrees(gyroBias.z)) // cd/sec, displayed as deg/sec due to format string
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};
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WriteBlock(&pkt6, sizeof(pkt6));
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// Write 7th EKF packet
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ahrs.get_NavEKF3().getAccelBias(1,accelBias);
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ahrs.get_NavEKF3().getWind(1,wind);
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ahrs.get_NavEKF3().getMagNED(1,magNED);
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ahrs.get_NavEKF3().getMagXYZ(1,magXYZ);
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magIndex = ahrs.get_NavEKF3().getActiveMag(1);
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struct log_NKF2a pkt7 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF7_MSG),
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time_us : time_us,
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accBiasX : (int16_t)(100*accelBias.x),
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accBiasY : (int16_t)(100*accelBias.y),
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accBiasZ : (int16_t)(100*accelBias.z),
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windN : (int16_t)(100*wind.x),
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windE : (int16_t)(100*wind.y),
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magN : (int16_t)(magNED.x),
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magE : (int16_t)(magNED.y),
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magD : (int16_t)(magNED.z),
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magX : (int16_t)(magXYZ.x),
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magY : (int16_t)(magXYZ.y),
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magZ : (int16_t)(magXYZ.z),
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index : (uint8_t)(magIndex)
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};
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WriteBlock(&pkt7, sizeof(pkt7));
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// Write 8th EKF packet
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ahrs.get_NavEKF3().getInnovations(1,velInnov, posInnov, magInnov, tasInnov, yawInnov);
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struct log_NKF3 pkt8 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF8_MSG),
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time_us : time_us,
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innovVN : (int16_t)(100*velInnov.x),
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innovVE : (int16_t)(100*velInnov.y),
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innovVD : (int16_t)(100*velInnov.z),
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innovPN : (int16_t)(100*posInnov.x),
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innovPE : (int16_t)(100*posInnov.y),
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innovPD : (int16_t)(100*posInnov.z),
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innovMX : (int16_t)(magInnov.x),
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innovMY : (int16_t)(magInnov.y),
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innovMZ : (int16_t)(magInnov.z),
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innovYaw : (int16_t)(100*degrees(yawInnov)),
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innovVT : (int16_t)(100*tasInnov)
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};
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WriteBlock(&pkt8, sizeof(pkt8));
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// Write 9th EKF packet
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ahrs.get_NavEKF3().getVariances(1,velVar, posVar, hgtVar, magVar, tasVar, offset);
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tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
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ahrs.get_NavEKF3().getFilterFaults(1,faultStatus);
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ahrs.get_NavEKF3().getFilterTimeouts(1,timeoutStatus);
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ahrs.get_NavEKF3().getFilterStatus(1,solutionStatus);
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ahrs.get_NavEKF3().getFilterGpsStatus(1,gpsStatus);
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ahrs.get_NavEKF3().getTiltError(1,tiltError);
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struct log_NKF4 pkt9 = {
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LOG_PACKET_HEADER_INIT(LOG_XKF9_MSG),
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time_us : time_us,
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sqrtvarV : (int16_t)(100*velVar),
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sqrtvarP : (int16_t)(100*posVar),
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sqrtvarH : (int16_t)(100*hgtVar),
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|
sqrtvarM : (int16_t)(100*tempVar),
|
||||||
|
sqrtvarVT : (int16_t)(100*tasVar),
|
||||||
|
tiltErr : (float)tiltError,
|
||||||
|
offsetNorth : (int8_t)(offset.x),
|
||||||
|
offsetEast : (int8_t)(offset.y),
|
||||||
|
faults : (uint16_t)(faultStatus),
|
||||||
|
timeouts : (uint8_t)(timeoutStatus),
|
||||||
|
solution : (uint16_t)(solutionStatus.value),
|
||||||
|
gps : (uint16_t)(gpsStatus.value),
|
||||||
|
primary : (int8_t)primaryIndex
|
||||||
|
};
|
||||||
|
WriteBlock(&pkt9, sizeof(pkt9));
|
||||||
|
|
||||||
|
}
|
||||||
|
// write range beacon fusion debug packet if the range value is non-zero
|
||||||
|
uint8_t ID;
|
||||||
|
float rng;
|
||||||
|
float innovVar;
|
||||||
|
float innov;
|
||||||
|
float testRatio;
|
||||||
|
Vector3f beaconPosNED;
|
||||||
|
float bcnPosOffsetHigh;
|
||||||
|
float bcnPosOffsetLow;
|
||||||
|
if (ahrs.get_NavEKF3().getRangeBeaconDebug(-1, ID, rng, innov, innovVar, testRatio, beaconPosNED, bcnPosOffsetHigh, bcnPosOffsetLow)) {
|
||||||
|
if (rng > 0.0f) {
|
||||||
|
struct log_RngBcnDebug pkt10 = {
|
||||||
|
LOG_PACKET_HEADER_INIT(LOG_XKF10_MSG),
|
||||||
|
time_us : time_us,
|
||||||
|
ID : (uint8_t)ID,
|
||||||
|
rng : (int16_t)(100*rng),
|
||||||
|
innov : (int16_t)(100*innov),
|
||||||
|
sqrtInnovVar : (uint16_t)(100*sqrtf(innovVar)),
|
||||||
|
testRatio : (uint16_t)(100*testRatio),
|
||||||
|
beaconPosN : (int16_t)(100*beaconPosNED.x),
|
||||||
|
beaconPosE : (int16_t)(100*beaconPosNED.y),
|
||||||
|
beaconPosD : (int16_t)(100*beaconPosNED.z),
|
||||||
|
offsetHigh : (int16_t)(100*bcnPosOffsetHigh),
|
||||||
|
offsetLow : (int16_t)(100*bcnPosOffsetLow)
|
||||||
|
};
|
||||||
|
WriteBlock(&pkt10, sizeof(pkt10));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// Write a command processing packet
|
// Write a command processing packet
|
||||||
|
|
|
||||||
|
|
@ -273,6 +273,23 @@ struct PACKED log_NKF2 {
|
||||||
uint8_t index;
|
uint8_t index;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
struct PACKED log_NKF2a {
|
||||||
|
LOG_PACKET_HEADER;
|
||||||
|
uint64_t time_us;
|
||||||
|
int16_t accBiasX;
|
||||||
|
int16_t accBiasY;
|
||||||
|
int16_t accBiasZ;
|
||||||
|
int16_t windN;
|
||||||
|
int16_t windE;
|
||||||
|
int16_t magN;
|
||||||
|
int16_t magE;
|
||||||
|
int16_t magD;
|
||||||
|
int16_t magX;
|
||||||
|
int16_t magY;
|
||||||
|
int16_t magZ;
|
||||||
|
uint8_t index;
|
||||||
|
};
|
||||||
|
|
||||||
struct PACKED log_EKF3 {
|
struct PACKED log_EKF3 {
|
||||||
LOG_PACKET_HEADER;
|
LOG_PACKET_HEADER;
|
||||||
uint64_t time_us;
|
uint64_t time_us;
|
||||||
|
|
@ -838,6 +855,26 @@ Format characters in the format string for binary log messages
|
||||||
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
|
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
|
||||||
{ LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
|
{ LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
|
||||||
"NKF0","QBccCCccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL" }, \
|
"NKF0","QBccCCccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL" }, \
|
||||||
|
{ LOG_XKF1_MSG, sizeof(log_EKF1), \
|
||||||
|
"XKF1","QccCfffffffccc","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ" }, \
|
||||||
|
{ LOG_XKF2_MSG, sizeof(log_NKF2a), \
|
||||||
|
"XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
|
||||||
|
{ LOG_XKF3_MSG, sizeof(log_NKF3), \
|
||||||
|
"XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
|
||||||
|
{ LOG_XKF4_MSG, sizeof(log_NKF4), \
|
||||||
|
"XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
|
||||||
|
{ LOG_XKF5_MSG, sizeof(log_NKF5), \
|
||||||
|
"XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos" }, \
|
||||||
|
{ LOG_XKF6_MSG, sizeof(log_EKF1), \
|
||||||
|
"XKF6","QccCfffffffccc","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ" }, \
|
||||||
|
{ LOG_XKF7_MSG, sizeof(log_NKF2a), \
|
||||||
|
"XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
|
||||||
|
{ LOG_XKF8_MSG, sizeof(log_NKF3), \
|
||||||
|
"XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
|
||||||
|
{ LOG_XKF9_MSG, sizeof(log_NKF4), \
|
||||||
|
"XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
|
||||||
|
{ LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
|
||||||
|
"XKF0","QBccCCccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL" }, \
|
||||||
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
|
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
|
||||||
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
|
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
|
||||||
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
|
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
|
||||||
|
|
@ -1018,6 +1055,16 @@ enum LogMessages {
|
||||||
LOG_NKF8_MSG,
|
LOG_NKF8_MSG,
|
||||||
LOG_NKF9_MSG,
|
LOG_NKF9_MSG,
|
||||||
LOG_NKF10_MSG,
|
LOG_NKF10_MSG,
|
||||||
|
LOG_XKF1_MSG,
|
||||||
|
LOG_XKF2_MSG,
|
||||||
|
LOG_XKF3_MSG,
|
||||||
|
LOG_XKF4_MSG,
|
||||||
|
LOG_XKF5_MSG,
|
||||||
|
LOG_XKF6_MSG,
|
||||||
|
LOG_XKF7_MSG,
|
||||||
|
LOG_XKF8_MSG,
|
||||||
|
LOG_XKF9_MSG,
|
||||||
|
LOG_XKF10_MSG,
|
||||||
LOG_DF_MAV_STATS,
|
LOG_DF_MAV_STATS,
|
||||||
|
|
||||||
LOG_MSG_SBPHEALTH,
|
LOG_MSG_SBPHEALTH,
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue