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AP_NavEKF3: stop using QUAT_* defines from AP_Logger/LogStructure.h

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The EKFs logging is independant so we can kill EKF2...

Also use correct structure for logging XKF1; these structures were
identical.
This commit is contained in:
Peter Barker 2020-12-03 21:13:12 +11:00 committed by Andrew Tridgell
parent a2fe846a5f
commit 58f6570755
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -25,7 +25,7 @@ void NavEKF3_core::Log_Write_XKF1(uint64_t time_us) const
if (!getOriginLLH(originLLH)) {
originLLH.alt = 0;
}
const struct log_EKF1 pkt{
const struct log_XKF1 pkt{
LOG_PACKET_HEADER_INIT(LOG_XKF1_MSG),
time_us : time_us,
core : DAL_CORE(core_index),

2
libraries/AP_NavEKF3/LogStructure.h
View File

@ -498,7 +498,7 @@ struct PACKED log_XKY1 {
"XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s------", "F------"}, \
{ LOG_XKFS_MSG, sizeof(log_XKFS), \
"XKFS","QBBBBB","TimeUS,C,MI,BI,GI,AI", "s#----", "F-----" }, \
{ LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" }, \
{ LOG_XKT_MSG, sizeof(log_XKT), \
"XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"}, \
{ LOG_XKTV_MSG, sizeof(log_XKTV), \