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AC_PrecLand: Improve logging

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Add unit/multiplier of new fields to log structure
Fix new log structure
This commit is contained in:
fnoop 2018-08-08 10:23:08 +09:00 committed by Randy Mackay
parent f2b4e06a1a
commit bfceb5dd32
2 changed files with 18 additions and 0 deletions
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6
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -199,6 +199,12 @@ bool AC_PrecLand::get_target_position_cm(Vector2f& ret)
return true;
}
void AC_PrecLand::get_target_position_measurement_cm(Vector3f& ret)
{
ret = _target_pos_rel_meas_NED*100.0f;
return;
}
bool AC_PrecLand::get_target_position_relative_cm(Vector2f& ret)
{
if (!target_acquired()) {

12
libraries/AC_PrecLand/AC_PrecLand.h
View File

@ -59,12 +59,24 @@ public:
// returns time of last update
uint32_t last_update_ms() const { return _last_update_ms; }
// returns time of last time target was seen
uint32_t last_backend_los_meas_ms() const { return _last_backend_los_meas_ms; }
// returns estimator type
uint8_t estimator_type() const { return _estimator_type; }
// returns ekf outlier count
uint32_t ekf_outlier_count() const { return _outlier_reject_count; }
// give chance to driver to get updates from sensor, should be called at 400hz
void update(float rangefinder_alt_cm, bool rangefinder_alt_valid);
// returns target position relative to the EKF origin
bool get_target_position_cm(Vector2f& ret);
// returns target relative position as 3D vector
void get_target_position_measurement_cm(Vector3f& ret);
// returns target position relative to vehicle
bool get_target_position_relative_cm(Vector2f& ret);