mirror of https://github.com/ArduPilot/ardupilot
18 lines
912 B
Lua
18 lines
912 B
Lua
-- This script displays the ahrs variances at 1hz
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-- get_variances provides the innovations normalised using the innovation variance
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-- a value of 0 indicates perfect consistency between the measurement and the EKF solution
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-- a value of 1 is the maximum inconsistency that will be accepted by the filter
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-- nil is returned for all arguments if variances are not available
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function update() -- this is the loop which periodically runs)
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vel_variance, pos_variance, height_variance, mag_variance, airspeed_variance = ahrs:get_variances()
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if vel_variance then
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gcs:send_text(0, string.format("Variances Pos:%.1f Vel:%.1f Hgt:%.1f Mag:%.1f", pos_variance, vel_variance, height_variance, mag_variance:length()))
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else
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gcs:send_text(0, string.format("Failed to retrieve variances"))
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end
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return update, 1000 -- reschedules the loop
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end
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return update() -- run immediately before starting to reschedule
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