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

DataFlash: EKF logging uses nav_filter_status

Browse Source
This commit is contained in:
Randy Mackay 2015-01-02 17:08:18 +09:00 committed by Andrew Tridgell
parent f4d8bc586c
commit 54cff29fc2
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/DataFlash/LogFile.cpp
View File

@ -982,7 +982,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
Vector3f magVar;
float tasVar;
Vector2f offset;
uint8_t faultStatus, timeoutStatus, solutionStatus;
uint8_t faultStatus, timeoutStatus;
nav_filter_status solutionStatus;
ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
ahrs.get_NavEKF().getFilterFaults(faultStatus);
ahrs.get_NavEKF().getFilterTimeouts(timeoutStatus);
@ -1001,7 +1002,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
offsetEast : (int8_t)(offset.y),
faults : (uint8_t)(faultStatus),
timeouts : (uint8_t)(timeoutStatus),
solution : (uint8_t)(solutionStatus)
solution : (uint8_t)(solutionStatus.value)
};
WriteBlock(&pkt4, sizeof(pkt4));