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DataFlash: log tracking error for active instance of EKF2

mission-4.1.18
priseborough 9 years ago committed by Andrew Tridgell
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927186339c
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772c719df3
1 changed files with 1 additions and 1 deletions
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  1. 2
      libraries/DataFlash/LogFile.cpp

2
libraries/DataFlash/LogFile.cpp
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@ -1424,7 +1424,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
float gndOffsetErr=0; // filter ground offset state error float gndOffsetErr=0; // filter ground offset state error
Vector3f predictorErrors; // output predictor angle, velocity and position tracking error Vector3f predictorErrors; // output predictor angle, velocity and position tracking error
ahrs.get_NavEKF2().getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr); ahrs.get_NavEKF2().getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
ahrs.get_NavEKF2().getOutputTrackingError(0,predictorErrors); ahrs.get_NavEKF2().getOutputTrackingError(-1,predictorErrors);
struct log_EKF5 pkt5 = { struct log_EKF5 pkt5 = {
LOG_PACKET_HEADER_INIT(LOG_NKF5_MSG), LOG_PACKET_HEADER_INIT(LOG_NKF5_MSG),
time_us : time_us, time_us : time_us,

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