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AP_NavEKF2: use LOG_REPLAY and EK2_LOG_MASK parameters

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This commit is contained in:
Andrew Tridgell 2016-05-09 12:26:57 +10:00
parent 202eb3af35
commit ea508f1b80
2 changed files with 16 additions and 9 deletions
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20
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -428,12 +428,12 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Units: m/s
AP_GROUPINFO("NOAID_NOISE", 35, NavEKF2, _noaidHorizNoise, 10.0f),
// @Param: LOGGING
// @DisplayName: Enable EKF sensor logging
// @Description: This enables EKF sensor logging for use by Replay
// @Values: 0:Disabled,1:Enabled
// @Param: LOG_MASK
// @DisplayName: EKF sensor logging IMU mask
// @Description: This sets the IMU mask of sensors to do full logging for
// @Values: 0:Disabled,1:FirstIMU,3:FirstAndSecondIMU,7:AllIMUs
// @User: Advanced
AP_GROUPINFO("LOGGING", 36, NavEKF2, _enable_logging, 0),
AP_GROUPINFO("LOG_MASK", 36, NavEKF2, _logging_mask, 1),
AP_GROUPEND
};
@ -477,7 +477,7 @@ NavEKF2::NavEKF2(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng) :
*/
void NavEKF2::check_log_write(void)
{
if (!_enable_logging) {
if (!have_ekf_logging()) {
return;
}
if (logging.log_compass) {
@ -494,7 +494,7 @@ void NavEKF2::check_log_write(void)
}
if (logging.log_imu) {
const AP_InertialSensor &ins = _ahrs->get_ins();
DataFlash_Class::instance()->Log_Write_IMUDT(ins, imuSampleTime_us);
DataFlash_Class::instance()->Log_Write_IMUDT(ins, imuSampleTime_us, _logging_mask.get());
logging.log_imu = false;
}
@ -511,6 +511,12 @@ bool NavEKF2::InitialiseFilter(void)
}
imuSampleTime_us = AP_HAL::micros64();
// see if we will be doing logging
DataFlash_Class *dataflash = DataFlash_Class::instance();
if (dataflash != nullptr) {
logging.enabled = dataflash->log_replay();
}
if (core == nullptr) {

5
libraries/AP_NavEKF2/AP_NavEKF2.h
View File

@ -269,7 +269,7 @@ public:
void set_enable(bool enable) { _enable.set(enable); }
// are we doing sensor logging inside the EKF?
bool have_ekf_logging(void) const { return _enable_logging != 0; }
bool have_ekf_logging(void) const { return logging.enabled && _logging_mask != 0; }
private:
uint8_t num_cores; // number of allocated cores
@ -316,7 +316,7 @@ private:
AP_Int8 _imuMask; // Bitmask of IMUs to instantiate EKF2 for
AP_Int16 _gpsCheckScaler; // Percentage increase to be applied to GPS pre-flight accuracy and drift thresholds
AP_Float _noaidHorizNoise; // horizontal position measurement noise assumed when synthesised zero position measurements are used to constrain attitude drift : m
AP_Int8 _enable_logging; // Enable logging for Replay
AP_Int8 _logging_mask; // mask of IMUs to log
// Tuning parameters
const float gpsNEVelVarAccScale; // Scale factor applied to NE velocity measurement variance due to manoeuvre acceleration
@ -347,6 +347,7 @@ private:
const uint8_t fusionTimeStep_ms; // The minimum time interval between covariance predictions and measurement fusions in msec
struct {
bool enabled:1;
bool log_compass:1;
bool log_gps:1;
bool log_baro:1;