#include "AP_Nav_Common.h"

#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>

/*
  write an EKF timing message
 */
void Log_EKF_Timing(const char * name, const uint8_t core, uint64_t time_us, const struct ekf_timing &timing)
{
    AP::logger().Write(
        name,
        "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax",
        "s#sssssssss", // Units
        "F-000000000", // Mults
        "QBIffffffff", // Format
        time_us,
        core,
        timing.count,
        (double)timing.dtIMUavg_min,
        (double)timing.dtIMUavg_max,
        (double)timing.dtEKFavg_min,
        (double)timing.dtEKFavg_max,
        (double)timing.delAngDT_min,
        (double)timing.delAngDT_max,
        (double)timing.delVelDT_min,
        (double)timing.delVelDT_max);
}