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AP_Logger: Add RErr and ErSc fields to NKF3 log

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RErr (Core Relative Errors) and ErSc (Core Error Scores)
This commit is contained in:
Harshit Kumar Sankhla 2020-06-19 11:51:46 +05:30 committed by Andrew Tridgell
parent 16b499d0f6
commit 775a40e4cc
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_Logger/LogStructure.h
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@ -508,6 +508,8 @@ struct PACKED log_NKF3 {
int16_t innovMZ;
int16_t innovYaw;
int16_t innovVT;
float rerr;
float errorScore;
};
struct PACKED log_EKF4 {
@ -1874,6 +1876,8 @@ struct PACKED log_Winch {
// @Field: IMZ: Innovation in magnetic field strength (Z-axis component)
// @Field: IYAW: Innovation in vehicle yaw
// @Field: IVT: Innovation in true-airspeed
// @Field: RErr: Accumulated relative error of this core with respect to active primary core
// @Field: ErSc: A consolidated error score where higher numbers are less healthy
// @LoggerMessage: NKF4
// @Description: EKF2 variances
@ -2326,6 +2330,8 @@ struct PACKED log_Winch {
// @Field: IMZ: Innovation in magnetic field strength (Z-axis component)
// @Field: IYAW: Innovation in vehicle yaw
// @Field: IVT: Innovation in true-airspeed
// @Field: RErr: Accumulated relative error of this core with respect to active primary core
// @Field: ErSc: A consolidated error score where higher numbers are less healthy
// @LoggerMessage: XKF4
// @Description: EKF3 variances
@ -2522,7 +2528,7 @@ struct PACKED log_Winch {
{ LOG_NKF2_MSG, sizeof(log_NKF2), \
"NKF2","QBbccccchhhhhhB","TimeUS,C,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s#----nnGGGGGG-", "F-----BBCCCCCC-" }, \
{ LOG_NKF3_MSG, sizeof(log_NKF3), \
"NKF3","QBcccccchhhcc","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "s#nnnmmmGGG??", "F-BBBBBBCCCBB" }, \
"NKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \
{ LOG_NKF4_MSG, sizeof(log_NKF4), \
"NKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
{ LOG_NKF5_MSG, sizeof(log_NKF5), \
@ -2535,7 +2541,7 @@ struct PACKED log_Winch {
{ LOG_XKF2_MSG, sizeof(log_XKF2), \
"XKF2","QBccccchhhhhhB","TimeUS,C,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s#---nnGGGGGG-", "F----BBCCCCCC-" }, \
{ LOG_XKF3_MSG, sizeof(log_NKF3), \
"XKF3","QBcccccchhhcc","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "s#nnnmmmGGG??", "F-BBBBBBCCCBB" }, \
"XKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \
{ LOG_XKF4_MSG, sizeof(log_NKF4), \
"XKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
{ LOG_XKF5_MSG, sizeof(log_NKF5), \