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AP_NavEKF2: Add core relative error and errorscore logging in NKF3 packet

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TODO : Port lane switching logic from EKF3 to make use of these terms
Since both share the same NKF3 log structure, needed to do this.
Just log 0 as of.
This commit is contained in:
Harshit Kumar Sankhla 2020-06-19 18:46:53 +05:30 committed by Andrew Tridgell
parent 775a40e4cc
commit 56cbcb42ee
1 changed files with 3 additions and 1 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
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@ -102,7 +102,9 @@ void NavEKF2::Log_Write_NKF3(uint8_t _core, uint64_t time_us) const
innovMY : (int16_t)(magInnov.y),
innovMZ : (int16_t)(magInnov.z),
innovYaw : (int16_t)(100*degrees(yawInnov)),
innovVT : (int16_t)(100*tasInnov)
innovVT : (int16_t)(100*tasInnov),
rerr : 0, // TODO : Relative Error based Lane-Switching like EK3
errorScore : 0 // TODO : Relative Error based Lane-Switching like EK3
};
AP::logger().WriteBlock(&pkt3, sizeof(pkt3));
}