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AP_Logger: log active EKF type as ATT.AEKF

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This commit is contained in:
Andrew Tridgell 2020-12-31 08:40:38 +11:00 committed by Peter Barker
parent b73131cdbc
commit ce561ab249
2 changed files with 5 additions and 2 deletions
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3
libraries/AP_Logger/LogFile.cpp
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@ -577,7 +577,8 @@ void AP_Logger::Write_Attitude(const Vector3f &targets)
control_yaw : (uint16_t)wrap_360_cd(targets.z),
yaw : (uint16_t)wrap_360_cd(ahrs.yaw_sensor),
error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100),
active : ahrs.get_active_AHRS_type(),
};
WriteBlock(&pkt, sizeof(pkt));
}

4
libraries/AP_Logger/LogStructure.h
View File

@ -525,6 +525,7 @@ struct PACKED log_Attitude {
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
uint8_t active;
};
struct PACKED log_PID {
@ -1143,6 +1144,7 @@ struct PACKED log_PSC {
// @Field: Yaw: achieved vehicle yaw
// @Field: ErrRP: lowest estimated gyro drift error
// @Field: ErrYaw: difference between measured yaw and DCM yaw estimate
// @Field: AEKF: active EKF type
// @LoggerMessage: BARO
// @Description: Gathered Barometer data
@ -1935,7 +1937,7 @@ struct PACKED log_PSC {
{ LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \
"BCL", "QBfHHHHHHHHHHHH", "TimeUS,Instance,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10,V11,V12", "s#vvvvvvvvvvvvv", "F-0CCCCCCCCCCCC" }, \
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw", "sddddhhdh", "FBBBBBBBB" }, \
"ATT", "QccccCCCCB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw,AEKF", "sddddhhdh-", "FBBBBBBBB-" }, \
{ LOG_MAG_MSG, sizeof(log_MAG), \
"MAG", "QBhhhhhhhhhBI", "TimeUS,I,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOX,MOY,MOZ,Health,S", "s#GGGGGGGGG-s", "F-CCCCCCCCC-F" }, \
{ LOG_MODE_MSG, sizeof(log_Mode), \