dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

change numbers in printing routine to match 0-based indices

This commit is contained in:
Lorenz Meier 2014-06-05 17:03:31 +02:00
parent ba36890ef3
commit 241837c9df
1 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
View File

@ -1459,15 +1459,15 @@ FixedwingEstimator::print_status()
printf("ref alt: %8.6f\n", (double)_local_pos.ref_alt);
printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z);
printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z);
printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]);
printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]);
printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]);
printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]);
printf("states (accel offs) [14]: %8.4f\n", (double)_ekf->states[13]);
printf("states (wind) [15-16]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]);
printf("states (earth mag) [17-19]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]);
printf("states (body mag) [20-22]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]);
printf("states (terrain) [23]: %8.4f\n", (double)_ekf->states[22]);
printf("states (quat) [0-3]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]);
printf("states (vel m/s) [4-6]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]);
printf("states (pos m) [7-9]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]);
printf("states (delta ang) [10-12]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]);
printf("states (accel offs) [13]: %8.4f\n", (double)_ekf->states[13]);
printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]);
printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]);
printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]);
printf("states (terrain) [22]: %8.4f\n", (double)_ekf->states[22]);
printf("states: %s %s %s %s %s %s %s %s %s %s\n",
(_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT",
(_ekf->onGround) ? "ON_GROUND" : "AIRBORNE",