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AP_NavEKF2: allow logging of IMT data from inside EKF2

This commit is contained in:
Andrew Tridgell 2016-05-03 16:33:42 +10:00
parent 2965e67d5d
commit f92279f436
3 changed files with 12 additions and 0 deletions
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7
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -427,6 +427,13 @@ 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
// @User: Advanced
AP_GROUPINFO("LOGGING", 36, NavEKF2, _enable_logging, 0),
AP_GROUPEND
};

1
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -310,6 +310,7 @@ 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
// Tuning parameters
const float gpsNEVelVarAccScale; // Scale factor applied to NE velocity measurement variance due to manoeuvre acceleration

4
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -9,6 +9,7 @@
#include <AP_Vehicle/AP_Vehicle.h>
#include <stdio.h>
#include <DataFlash/DataFlash.h>
extern const AP_HAL::HAL& hal;
@ -492,6 +493,9 @@ bool NavEKF2_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng) {
if (ins_index < ins.get_gyro_count()) {
ins.get_delta_angle(ins_index,dAng);
if (frontend->_enable_logging && ins_index == 0) {
DataFlash_Class::instance()->Log_Write_IMUDT(ins);
}
return true;
}
return false;