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AP_NavEKF: removed Log_EKF_Timing

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not needed for new replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
This commit is contained in:
Andrew Tridgell 2020-11-06 10:29:21 +11:00
parent c0b20881d6
commit 97a2c5a576
2 changed files with 0 additions and 43 deletions
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42
libraries/AP_NavEKF/AP_Nav_Common.cpp
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@ -1,42 +0,0 @@
#include "AP_Nav_Common.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
/*
write an EKF timing message
*/
// @LoggerMessage: NKT,XKT
// @Description: EKF timing information
// @Field: TimeUS: Time since system startup
// @Field: C: EKF core this message instance applies to
// @Field: Cnt: count of samples used to create this message
// @Field: IMUMin: smallest IMU sample interval
// @Field: IMUMax: largest IMU sample interval
// @Field: EKFMin: low-passed achieved average time step rate for the EKF (minimum)
// @Field: EKFMax: low-passed achieved average time step rate for the EKF (maximum)
// @Field: AngMin: accumulated measurement time interval for the delta angle (minimum)
// @Field: AngMax: accumulated measurement time interval for the delta angle (maximum)
// @Field: VMin: accumulated measurement time interval for the delta velocity (minimum)
// @Field: VMax: accumulated measurement time interval for the delta velocity (maximum)
void Log_EKF_Timing(const char * name, const uint8_t core, uint64_t time_us, const struct ekf_timing &timing)
{
AP::logger().Write(
name,
"TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax",
"s#sssssssss", // Units
"F-000000000", // Mults
"QBIffffffff", // Format
time_us,
core,
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,
(double)timing.delVelDT_max);
}

1
libraries/AP_NavEKF/AP_Nav_Common.h
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@ -76,6 +76,5 @@ struct ekf_timing {
float delVelDT_max;
float delVelDT_min;
};
void Log_EKF_Timing(const char *name, const uint8_t core, uint64_t time_us, const struct ekf_timing &timing);
#define N_MODELS_EKFGSF 5U