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DataFlash: extend ekf fault status reporting coverage

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Paul Riseborough 2016-05-10 16:07:56 +10:00 committed by Andrew Tridgell
parent 597ec61673
commit fcee82f9b2
2 changed files with 12 additions and 10 deletions
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12
libraries/DataFlash/LogFile.cpp
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@ -1216,7 +1216,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
Vector3f magVar;
float tasVar;
Vector2f offset;
uint8_t faultStatus, timeoutStatus;
uint16_t faultStatus;
uint8_t timeoutStatus;
nav_filter_status solutionStatus;
nav_gps_status gpsStatus {};
ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
@ -1236,7 +1237,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
sqrtvarVT : (int16_t)(100*tasVar),
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus),
faults : (uint16_t)(faultStatus),
timeouts : (uint8_t)(timeoutStatus),
solution : (uint16_t)(solutionStatus.value),
gps : (uint16_t)(gpsStatus.value)
@ -1375,7 +1376,8 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
Vector3f magVar;
float tasVar = 0;
Vector2f offset;
uint8_t faultStatus=0, timeoutStatus=0;
uint16_t faultStatus=0;
uint8_t timeoutStatus=0;
nav_filter_status solutionStatus {};
nav_gps_status gpsStatus {};
ahrs.get_NavEKF2().getVariances(0,velVar, posVar, hgtVar, magVar, tasVar, offset);
@ -1398,7 +1400,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
tiltErr : (float)tiltError,
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus),
faults : (uint16_t)(faultStatus),
timeouts : (uint8_t)(timeoutStatus),
solution : (uint16_t)(solutionStatus.value),
gps : (uint16_t)(gpsStatus.value),
@ -1524,7 +1526,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
tiltErr : (float)tiltError,
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus),
faults : (uint16_t)(faultStatus),
timeouts : (uint8_t)(timeoutStatus),
solution : (uint16_t)(solutionStatus.value),
gps : (uint16_t)(gpsStatus.value),

10
libraries/DataFlash/LogStructure.h
View File

@ -314,7 +314,7 @@ struct PACKED log_EKF4 {
int16_t sqrtvarVT;
int8_t offsetNorth;
int8_t offsetEast;
uint8_t faults;
uint16_t faults;
uint8_t timeouts;
uint16_t solution;
uint16_t gps;
@ -331,7 +331,7 @@ struct PACKED log_NKF4 {
float tiltErr;
int8_t offsetNorth;
int8_t offsetEast;
uint8_t faults;
uint16_t faults;
uint8_t timeouts;
uint16_t solution;
uint16_t gps;
@ -782,7 +782,7 @@ Format characters in the format string for binary log messages
{ LOG_EKF3_MSG, sizeof(log_EKF3), \
"EKF3","Qcccccchhhc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
{ LOG_EKF4_MSG, sizeof(log_EKF4), \
"EKF4","QcccccccbbBBHH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,OFE,FS,TS,SS,GPS" }, \
"EKF4","QcccccccbbHBHH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,OFE,FS,TS,SS,GPS" }, \
{ LOG_EKF5_MSG, sizeof(log_EKF5), \
"EKF5","QBhhhcccCC","TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
{ LOG_NKF1_MSG, sizeof(log_EKF1), \
@ -792,7 +792,7 @@ Format characters in the format string for binary log messages
{ LOG_NKF3_MSG, sizeof(log_NKF3), \
"NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
{ LOG_NKF4_MSG, sizeof(log_NKF4), \
"NKF4","QcccccfbbBBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
"NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
{ LOG_NKF5_MSG, sizeof(log_EKF5), \
"NKF5","QBhhhcccCC","TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
{ LOG_NKF6_MSG, sizeof(log_EKF1), \
@ -802,7 +802,7 @@ Format characters in the format string for binary log messages
{ LOG_NKF8_MSG, sizeof(log_NKF3), \
"NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
{ LOG_NKF9_MSG, sizeof(log_NKF4), \
"NKF9","QcccccfbbBBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \