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AP_NavEKF2: fixed undefined behaviour in logging

apm_2208
Andrew Tridgell 3 years ago
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1 changed files with 1 additions and 1 deletions
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  1. 2
      libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp

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libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
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@ -170,7 +170,7 @@ void NavEKF2_core::Log_Write_NKF5(uint64_t time_us) const
FIX : (int16_t)(1000*innovOptFlow[0]), // optical flow LOS rate vector innovations from the main nav filter FIX : (int16_t)(1000*innovOptFlow[0]), // optical flow LOS rate vector innovations from the main nav filter
FIY : (int16_t)(1000*innovOptFlow[1]), // optical flow LOS rate vector innovations from the main nav filter FIY : (int16_t)(1000*innovOptFlow[1]), // optical flow LOS rate vector innovations from the main nav filter
AFI : (int16_t)(1000 * auxFlowObsInnov.length()), // optical flow LOS rate innovation from terrain offset estimator AFI : (int16_t)(1000 * auxFlowObsInnov.length()), // optical flow LOS rate innovation from terrain offset estimator
HAGL : (int16_t)(100*(terrainState - stateStruct.position.z)), // height above ground level HAGL : float_to_int16(100*(terrainState - stateStruct.position.z)), // height above ground level
offset : (int16_t)(100*terrainState), // // estimated vertical position of the terrain relative to the nav filter zero datum offset : (int16_t)(100*terrainState), // // estimated vertical position of the terrain relative to the nav filter zero datum
RI : (int16_t)(100*innovRng), // range finder innovations RI : (int16_t)(100*innovRng), // range finder innovations
meaRng : (uint16_t)(100*rangeDataDelayed.rng), // measured range meaRng : (uint16_t)(100*rangeDataDelayed.rng), // measured range

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