DataFlash: Allow negative HAGL values in the EKF optical flow debug log

10 years ago · 873860e810
1 changed files with 2 additions and 2 deletions
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@ -356,7 +356,7 @@ struct PACKED log_EKF5 {
				@@ -356,7 +356,7 @@ struct PACKED log_EKF5 {
    int16_t FIX;
    int16_t FIY;
    int16_t AFI;
-    uint16_t HAGL;
+    int16_t HAGL;
    int16_t offset;
    int16_t RI;
    uint16_t meaRng;
@ -532,7 +532,7 @@ struct PACKED log_Esc {
				@@ -532,7 +532,7 @@ struct PACKED log_Esc {
    { LOG_ESC8_MSG, sizeof(log_Esc), \
      "ESC8",  "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \
    { LOG_EKF5_MSG, sizeof(log_EKF5), \
-      "EKF5","IBhhhCccCC","TimeMS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }
+      "EKF5","IBhhhcccCC","TimeMS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }

 #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 #define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES