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Replay: handle EKF2 replay

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This commit is contained in:
Andrew Tridgell 2015-09-23 18:56:15 +10:00
parent fe76662faf
commit 643178fbe3
3 changed files with 8 additions and 3 deletions
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2
Tools/Replay/LR_MsgHandler.cpp
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@ -335,7 +335,7 @@ void LR_MsgHandler_NTUN_Copter::process_message(uint8_t *msg)
bool LR_MsgHandler::set_parameter(const char *name, float value)
{
const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_USE",
const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_TYPE", "EK2_ENABLE",
"COMPASS_ORIENT", "COMPASS_ORIENT2",
"COMPASS_ORIENT3"};
for (uint8_t i=0; i < ARRAY_SIZE(ignore_parms); i++) {

3
Tools/Replay/LogReader.cpp
View File

@ -85,7 +85,8 @@ LR_MsgHandler_PARM *parameter_handler;
/*
messages which we will be generating, so should be discarded
*/
static const char *generated_names[] = { "EKF1", "EKF2", "EKF3", "EKF4", "EKF5",
static const char *generated_names[] = { "EKF1", "EKF2", "EKF3", "EKF4", "EKF5",
"NKF1", "NKF2", "NKF3", "NKF4", "NKF5",
"AHR2", "POS", "CHEK", NULL };
/*

6
Tools/Replay/Replay.cpp
View File

@ -182,6 +182,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
void ReplayVehicle::setup(void)
{
load_parameters();
// we pass zero log structures, as we will be outputting the log
// structures we need manually, to prevent FMT duplicates
dataflash.Init(log_structure, 0);
@ -192,7 +194,8 @@ void ReplayVehicle::setup(void)
ahrs.set_wind_estimation(true);
ahrs.set_correct_centrifugal(true);
ahrs.set_ekf_use(true);
EKF2.set_enable(true);
printf("Starting disarmed\n");
hal.util->set_soft_armed(false);
@ -587,6 +590,7 @@ void Replay::setup()
}
_vehicle.setup();
set_ins_update_rate(log_info.update_rate);
feenableexcept(FE_INVALID | FE_OVERFLOW);