From 87108b86c8bee5dd33905f13045ea79daf077975 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 15 Apr 2020 16:00:43 +1000
Subject: [PATCH] AP_NavEKF3: add documentation for XKFM message

---
 libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index b98e00c732..4afca34ad5 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -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-----",