From 56cbcb42ee38f7aafb0d38be360ba16b1c56c698 Mon Sep 17 00:00:00 2001 From: Harshit Kumar Sankhla Date: Fri, 19 Jun 2020 18:46:53 +0530 Subject: [PATCH] AP_NavEKF2: Add core relative error and errorscore logging in NKF3 packet 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. --- libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp index cedeba3eaa..1c10405e3f 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp @@ -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)); }