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Replay: fixed build with AP_NavEKF API change

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This commit is contained in:
Andrew Tridgell 2014-10-31 10:47:57 +11:00
parent 96a87b6990
commit 4e87056631
1 changed files with 11 additions and 8 deletions
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19
Tools/Replay/Replay.pde
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@ -350,7 +350,9 @@ void loop()
Vector3f velNED;
Vector3f posNED;
Vector3f gyroBias;
Vector3f accelBias;
float accelWeighting;
float accelZBias1;
float accelZBias2;
Vector3f windVel;
Vector3f magNED;
Vector3f magXYZ;
@ -374,7 +376,8 @@ void loop()
NavEKF.getVelNED(velNED);
NavEKF.getPosNED(posNED);
NavEKF.getGyroBias(gyroBias);
NavEKF.getAccelBias(accelBias);
NavEKF.getIMU1Weighting(accelWeighting);
NavEKF.getAccelZBias(accelZBias1, accelZBias2);
NavEKF.getWind(windVel);
NavEKF.getMagNED(magNED);
NavEKF.getMagXYZ(magXYZ);
@ -471,9 +474,9 @@ void loop()
gyrZ);
// define messages for EKF2 data packet
int8_t accX = (int8_t)(100*accelBias.x);
int8_t accY = (int8_t)(100*accelBias.y);
int8_t accZ = (int8_t)(100*accelBias.z);
int8_t accWeight = (int8_t)(100*accelWeighting);
int8_t acc1 = (int8_t)(100*accelZBias1);
int8_t acc2 = (int8_t)(100*accelZBias2);
int16_t windN = (int16_t)(100*windVel.x);
int16_t windE = (int16_t)(100*windVel.y);
int16_t magN = (int16_t)(magNED.x);
@ -487,9 +490,9 @@ void loop()
fprintf(ekf2f, "%.3f %d %d %d %d %d %d %d %d %d %d %d %d\n",
hal.scheduler->millis() * 0.001f,
hal.scheduler->millis(),
accX,
accY,
accZ,
accWeight,
acc1,
acc2,
windN,
windE,
magN,