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AP_NavEKF3: Log gpsGoodToAlign

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Paul Riseborough 2023-09-27 13:26:59 +10:00 committed by Andrew Tridgell
parent eb2ff2192d
commit 996bf7d4df
2 changed files with 6 additions and 3 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -100,7 +100,8 @@ void NavEKF3_core::Log_Write_XKFS(uint64_t time_us) const
baro_index : selected_baro,
gps_index : selected_gps,
airspeed_index : getActiveAirspeed(),
source_set : frontend->sources.getPosVelYawSourceSet()
source_set : frontend->sources.getPosVelYawSourceSet(),
gps_good_to_align : gpsGoodToAlign
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}

6
libraries/AP_NavEKF3/LogStructure.h
View File

@ -344,6 +344,7 @@ struct PACKED log_XKQ {
// @Field: GI: GPS selection index
// @Field: AI: airspeed selection index
// @Field: SS: Source Set (primary=0/secondary=1/tertiary=2)
// @Field: GPS_GTA: GPS good to align
struct PACKED log_XKFS {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -353,6 +354,7 @@ struct PACKED log_XKFS {
uint8_t gps_index;
uint8_t airspeed_index;
uint8_t source_set;
uint8_t gps_good_to_align;
};
// @LoggerMessage: XKTV
@ -439,8 +441,8 @@ struct PACKED log_XKV {
{ LOG_XKFM_MSG, sizeof(log_XKFM), \
"XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s#-----", "F------", true }, \
{ LOG_XKFS_MSG, sizeof(log_XKFS), \
"XKFS","QBBBBBB","TimeUS,C,MI,BI,GI,AI,SS", "s#-----", "F------" , true }, \
{ LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#----", "F-0000" , true }, \
"XKFS","QBBBBBBB","TimeUS,C,MI,BI,GI,AI,SS,GPS_GTA", "s#------", "F-------" , true }, \
{ LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" , true }, \
{ LOG_XKT_MSG, sizeof(log_XKT), \
"XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000", true }, \
{ LOG_XKTV_MSG, sizeof(log_XKTV), \