From ce561ab249a0595d9a4014edba4ea793e61851dc Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 31 Dec 2020 08:40:38 +1100 Subject: [PATCH] AP_Logger: log active EKF type as ATT.AEKF --- libraries/AP_Logger/LogFile.cpp | 3 ++- libraries/AP_Logger/LogStructure.h | 4 +++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp index 2c8d1684b8..13822d0721 100644 --- a/libraries/AP_Logger/LogFile.cpp +++ b/libraries/AP_Logger/LogFile.cpp @@ -577,7 +577,8 @@ void AP_Logger::Write_Attitude(const Vector3f &targets) control_yaw : (uint16_t)wrap_360_cd(targets.z), yaw : (uint16_t)wrap_360_cd(ahrs.yaw_sensor), error_rp : (uint16_t)(ahrs.get_error_rp() * 100), - error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100) + error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100), + active : ahrs.get_active_AHRS_type(), }; WriteBlock(&pkt, sizeof(pkt)); } diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index 293fb04be8..375a23e87c 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -525,6 +525,7 @@ struct PACKED log_Attitude { uint16_t yaw; uint16_t error_rp; uint16_t error_yaw; + uint8_t active; }; struct PACKED log_PID { @@ -1143,6 +1144,7 @@ struct PACKED log_PSC { // @Field: Yaw: achieved vehicle yaw // @Field: ErrRP: lowest estimated gyro drift error // @Field: ErrYaw: difference between measured yaw and DCM yaw estimate +// @Field: AEKF: active EKF type // @LoggerMessage: BARO // @Description: Gathered Barometer data @@ -1935,7 +1937,7 @@ struct PACKED log_PSC { { LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \ "BCL", "QBfHHHHHHHHHHHH", "TimeUS,Instance,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10,V11,V12", "s#vvvvvvvvvvvvv", "F-0CCCCCCCCCCCC" }, \ { LOG_ATTITUDE_MSG, sizeof(log_Attitude),\ - "ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw", "sddddhhdh", "FBBBBBBBB" }, \ + "ATT", "QccccCCCCB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw,AEKF", "sddddhhdh-", "FBBBBBBBB-" }, \ { LOG_MAG_MSG, sizeof(log_MAG), \ "MAG", "QBhhhhhhhhhBI", "TimeUS,I,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOX,MOY,MOZ,Health,S", "s#GGGGGGGGG-s", "F-CCCCCCCCC-F" }, \ { LOG_MODE_MSG, sizeof(log_Mode), \