mirror of https://github.com/ArduPilot/ardupilot
29 lines
801 B
C++
29 lines
801 B
C++
#include "AP_Nav_Common.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Logger/AP_Logger.h>
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/*
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write an EKF timing message
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*/
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void Log_EKF_Timing(const char * name, const uint8_t core, uint64_t time_us, const struct ekf_timing &timing)
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{
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AP::logger().Write(
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name,
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"TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax",
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"s#sssssssss", // Units
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"F-000000000", // Mults
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"QBIffffffff", // Format
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time_us,
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core,
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timing.count,
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(double)timing.dtIMUavg_min,
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(double)timing.dtIMUavg_max,
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(double)timing.dtEKFavg_min,
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(double)timing.dtEKFavg_max,
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(double)timing.delAngDT_min,
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(double)timing.delAngDT_max,
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(double)timing.delVelDT_min,
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(double)timing.delVelDT_max);
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}
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