Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-27 02:06:27 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

Merge pull request #795 from PX4/estm_log_fix

Browse Source 
Reduced the number of states to 10 to avoid killing the logging system
This commit is contained in:
Lorenz Meier
2014-04-04 14:54:44 -07:00
parent 89817d1366 fcd31b0368
commit 1ecd3e9291
1 changed files with 10 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2_messages.h
+10 -2
View File
@@ -302,12 +302,19 @@ struct log_PARM_s {
/* --- ESTM - ESTIMATOR STATUS --- */ /* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 132 #define LOG_ESTM_MSG 132
struct log_ESTM_s { struct log_ESTM_s {
float s[32]; float s[10];
uint8_t n_states; uint8_t n_states;
uint8_t states_nan; uint8_t states_nan;
uint8_t covariance_nan; uint8_t covariance_nan;
uint8_t kalman_gain_nan; uint8_t kalman_gain_nan;
}; };
// struct log_ESTM_s {
// float s[32];
// uint8_t n_states;
// uint8_t states_nan;
// uint8_t covariance_nan;
// uint8_t kalman_gain_nan;
// };
#pragma pack(pop) #pragma pack(pop)
@@ -341,7 +348,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(TIME, "Q", "StartTime"), LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(VER, "NZ", "Arch,FwGit"), LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
LOG_FORMAT(PARM, "Nf", "Name,Value"), LOG_FORMAT(PARM, "Nf", "Name,Value"),
LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"), LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"),
//LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
}; };
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);