From f6d3983e1bcb939a49c21d535e4e682f41db2351 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 3 Dec 2020 21:29:50 +1100 Subject: [PATCH] AP_NavEKF2: move EKF2 message ids into AP_NavEKF2 --- libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp | 2 +- libraries/AP_NavEKF2/LogStructure.h | 13 ++++++++++--- 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp index c040a53726..4096329d85 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp @@ -225,7 +225,7 @@ void NavEKF2_core::Log_Write_Beacon(uint64_t time_us) } struct log_NKF0 pkt0 = { - LOG_PACKET_HEADER_INIT(LOG_NKF10_MSG), + LOG_PACKET_HEADER_INIT(LOG_NKF0_MSG), time_us : time_us, core : DAL_CORE(core_index), ID : rngBcnFuseDataReportIndex, diff --git a/libraries/AP_NavEKF2/LogStructure.h b/libraries/AP_NavEKF2/LogStructure.h index d79f7d1799..844659ee86 100644 --- a/libraries/AP_NavEKF2/LogStructure.h +++ b/libraries/AP_NavEKF2/LogStructure.h @@ -3,8 +3,15 @@ #include #define LOG_IDS_FROM_NAVEKF2 \ - LOG_NKT_MSG, \ - LOG_NKY0_MSG, \ + LOG_NKF0_MSG, \ + LOG_NKF1_MSG, \ + LOG_NKF2_MSG, \ + LOG_NKF3_MSG, \ + LOG_NKF4_MSG, \ + LOG_NKF5_MSG, \ + LOG_NKQ_MSG, \ + LOG_NKT_MSG, \ + LOG_NKY0_MSG, \ LOG_NKY1_MSG @@ -344,7 +351,7 @@ struct PACKED log_NKY1 { #define LOG_STRUCTURE_FROM_NAVEKF2 \ - { LOG_NKF10_MSG, sizeof(log_NKF0), \ + { LOG_NKF0_MSG, sizeof(log_NKF0), \ "NKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \ { LOG_NKF1_MSG, sizeof(log_NKF1), \ "NKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \