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AP_NavEKF3: add documentation for XKFM message

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Peter Barker 2020-04-15 16:00:43 +10:00 committed by Andrew Tridgell
parent a83c25cfa7
commit 87108b86c8
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -1121,6 +1121,14 @@ void NavEKF3_core::updateMovementCheck(void)
if (logStatusChange || imuSampleTime_ms - lastMoveCheckLogTime_ms > 200) {
lastMoveCheckLogTime_ms = imuSampleTime_ms;
// @LoggerMessage: XKFM
// @Description: EKF3 diagnostic data for on-ground-and-not-moving check
// @Field: TimeUS: Time since system startup
// @Field: OGNM: True of on ground and not moving
// @Field: GLR: Gyroscope length ratio
// @Field: ALR: Accelerometer length ratio
// @Field: GDR: Gyroscope rate of change ratio
// @Field: ADR: Accelerometer rate of change ratio
AP::logger().Write("XKFM",
"TimeUS,OGNM,GLR,ALR,GDR,ADR",
"s-----",