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AP_NavEKF3: log EKF data source set in XKFS

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Peter Barker 2021-07-16 14:26:35 +10:00 committed by Peter Barker
parent 43a4ea734f
commit a4410a4b2e
2 changed files with 5 additions and 2 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -95,7 +95,8 @@ void NavEKF3_core::Log_Write_XKFS(uint64_t time_us) const
mag_index : magSelectIndex,
baro_index : selected_baro,
gps_index : selected_gps,
airspeed_index : getActiveAirspeed()
airspeed_index : getActiveAirspeed(),
source_set : frontend->sources.getPosVelYawSourceSet()
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}

4
libraries/AP_NavEKF3/LogStructure.h
View File

@ -343,6 +343,7 @@ struct PACKED log_XKQ {
// @Field: BI: barometer selection index
// @Field: GI: GPS selection index
// @Field: AI: airspeed selection index
// @Field: SS: Source Set (primary=0/secondary=1/tertiary=2)
struct PACKED log_XKFS {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -351,6 +352,7 @@ struct PACKED log_XKFS {
uint8_t baro_index;
uint8_t gps_index;
uint8_t airspeed_index;
uint8_t source_set;
};
// @LoggerMessage: XKTV
@ -436,7 +438,7 @@ struct PACKED log_XKV {
{ LOG_XKFM_MSG, sizeof(log_XKFM), \
"XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s#-----", "F------"}, \
{ LOG_XKFS_MSG, sizeof(log_XKFS), \
"XKFS","QBBBBB","TimeUS,C,MI,BI,GI,AI", "s#----", "F-----" }, \
"XKFS","QBBBBBB","TimeUS,C,MI,BI,GI,AI,SS", "s#-----", "F------" }, \
{ LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" }, \
{ LOG_XKT_MSG, sizeof(log_XKT), \
"XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"}, \