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AP_NavEKF3: fixed undefined behaviour in logging

This commit is contained in:
Andrew Tridgell 2022-07-11 09:17:47 +10:00
parent a24ed6a7f1
commit e2a83ba428
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -191,7 +191,7 @@ void NavEKF3_core::Log_Write_XKF5(uint64_t time_us) const
FIX : (int16_t)(1000*flowInnov[0]), // optical flow LOS rate vector innovations from the main nav filter
FIY : (int16_t)(1000*flowInnov[1]), // optical flow LOS rate vector innovations from the main nav filter
AFI : (int16_t)(1000 * auxFlowObsInnov.length()), // optical flow LOS rate innovation from terrain offset estimator
HAGL : (int16_t)(100*(terrainState - stateStruct.position.z)), // height above ground level
HAGL : float_to_int16(100*(terrainState - stateStruct.position.z)), // height above ground level
offset : (int16_t)(100*terrainState), // filter ground offset state error
RI : (int16_t)(100*innovRng), // range finder innovations
meaRng : (uint16_t)(100*rangeDataDelayed.rng), // measured range