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AP_NavEKF2: make mag variance reporting consistent

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logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
This commit is contained in:
Andrew Tridgell 2020-04-04 16:37:11 +11:00 committed by Randy Mackay
parent 531cf5f3fb
commit 6e5f61935c
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -578,6 +578,8 @@ void NavEKF2_core::send_status_report(mavlink_channel_t chan)
Vector2f offset;
getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
const float mag_max = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
// Only report range finder normalised innovation levels if the EKF needs the data for primary
// height estimation or optical flow operation. This prevents false alarms at the GCS if a
// range finder is fitted for other applications
@ -589,7 +591,7 @@ void NavEKF2_core::send_status_report(mavlink_channel_t chan)
}
// send message
mavlink_msg_ekf_status_report_send(chan, flags, velVar, posVar, hgtVar, magVar.length(), temp, tasVar);
mavlink_msg_ekf_status_report_send(chan, flags, velVar, posVar, hgtVar, mag_max, temp, tasVar);
}
// report the reason for why the backend is refusing to initialise