aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_NavEKF: use instance # when logging EKF core timings

Browse Source
This commit is contained in:
Peter Barker 2019-12-06 11:10:13 +11:00 committed by Randy Mackay
parent b0549c7569
commit 0da27417bc
2 changed files with 7 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_NavEKF/AP_Nav_Common.cpp
View File

@ -6,13 +6,16 @@
/*
write an EKF timing message
*/
void Log_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing)
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,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax",
"QIffffffff",
"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,

2
libraries/AP_NavEKF/AP_Nav_Common.h
View File

@ -75,4 +75,4 @@ struct ekf_timing {
float delVelDT_max;
float delVelDT_min;
};
void Log_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing);
void Log_EKF_Timing(const char *name, const uint8_t core, uint64_t time_us, const struct ekf_timing &timing);