From 4b8c7201b716ac48eab72800040f61b5fd2dd2ef Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 9 May 2016 09:40:28 +1000 Subject: [PATCH] sdlog2: add logging of ekf2 internal fault message --- src/modules/sdlog2/sdlog2.c | 2 +- src/modules/sdlog2/sdlog2_messages.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 3af4872203..82ad042821 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -2019,7 +2019,7 @@ int sdlog2_thread_main(int argc, char *argv[]) memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0); log_msg.body.log_EST0.n_states = buf.estimator_status.n_states; log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags; - log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags; + log_msg.body.log_EST0.fault_flags = buf.estimator_status.filter_fault_flags; log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags; LOGBUFFER_WRITE_AND_COUNT(EST0); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 9a8d958d6c..c5dbffe6f3 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -396,7 +396,7 @@ struct log_EST0_s { float s[12]; uint8_t n_states; uint8_t nan_flags; - uint8_t health_flags; + uint16_t fault_flags; uint8_t timeout_flags; }; @@ -662,7 +662,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"), LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"), LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"), - LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"), + LOG_FORMAT(EST0, "ffffffffffffBBHB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fFault,fTOut"), LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"), LOG_FORMAT(EST2, "ffffffffffffHH", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL"), LOG_FORMAT(EST3, "ffffffffffffffff", "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"),