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DataFlash: Add logging of average EKF time step min/max

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priseborough 2017-04-28 17:15:07 +10:00 committed by Andrew Tridgell
parent 0bf50fd56f
commit 8ead9d6b19
1 changed files with 3 additions and 1 deletions
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4
libraries/DataFlash/LogFile.cpp
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@ -1099,11 +1099,13 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
void DataFlash_Class::Log_Write_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing)
{
Log_Write(name,
"TimeUS,Cnt,IMUMin,IMUMax,AngMin,AngMax,VelMin,VelMax", "QIffffff",
"TimeUS,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VelMin,VelMax", "QIffffffff",
time_us,
timing.count,
(double)timing.dtIMUavg_min,
(double)timing.dtIMUavg_max,
(double)timing.dtEKFavg_min,
(double)timing.dtEKFavg_max,
(double)timing.delAngDT_min,
(double)timing.delAngDT_max,
(double)timing.delVelDT_min,