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DataFlash : Add EKF additional fault and timeout logging

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priseborough 2014-11-01 18:04:57 +11:00 committed by Andrew Tridgell
parent 517026980b
commit cc8e6dbfad
2 changed files with 6 additions and 2 deletions
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3
libraries/DataFlash/DataFlash.h
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@ -345,6 +345,7 @@ struct PACKED log_EKF4 {
int8_t offsetEast;
uint8_t faults;
uint8_t staticmode;
uint8_t timeouts;
};
struct PACKED log_EKF5 {
@ -503,7 +504,7 @@ struct PACKED log_Esc {
{ 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,StaticMode" }, \
"EKF4","IcccccccbbBBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,StaticMode,TS" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
{ LOG_UBX1_MSG, sizeof(log_Ubx1), \

5
libraries/DataFlash/LogFile.cpp
View File

@ -974,8 +974,10 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
float tasVar;
Vector2f offset;
uint8_t faultStatus;
uint8_t timeoutStatus;
ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
ahrs.get_NavEKF().getFilterFaults(faultStatus);
ahrs.get_NavEKF().getFilterTimeouts(timeoutStatus);
struct log_EKF4 pkt4 = {
LOG_PACKET_HEADER_INIT(LOG_EKF4_MSG),
time_ms : hal.scheduler->millis(),
@ -989,7 +991,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus),
staticmode : (uint8_t)(ahrs.get_NavEKF().getStaticMode())
staticmode : (uint8_t)(ahrs.get_NavEKF().getStaticMode()),
timeouts : (uint8_t)(timeoutStatus)
};
WriteBlock(&pkt4, sizeof(pkt4));