From b7d60b1d97a9709c892d284fc40004c3e4b38805 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 6 Nov 2020 17:55:37 +1100 Subject: [PATCH] AP_Logger: added C field to EKF msgs --- libraries/AP_Logger/LogStructure.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index 3884c4bf9e..2a2c8b094a 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -1852,6 +1852,7 @@ struct PACKED log_PSC { // @LoggerMessage: NKF0 // @Description: EKF2 beacon sensor diagnostics // @Field: TimeUS: Time since system startup +// @Field: C: EKF2 core this data is for // @Field: ID: Beacon sensor ID // @Field: rng: Beacon range // @Field: innov: Beacon range innovation @@ -1942,6 +1943,7 @@ struct PACKED log_PSC { // @LoggerMessage: NKF5 // @Description: EKF2 Sensor innovations (primary core) and general dumping ground // @Field: TimeUS: Time since system startup +// @Field: C: EKF2 core this data is for // @Field: NI: Normalised flow variance // @Field: FIX: Optical flow LOS rate vector innovations from the main nav filter (X-axis) // @Field: FIY: Optical flow LOS rate vector innovations from the main nav filter (Y-axis) @@ -2309,6 +2311,7 @@ struct PACKED log_PSC { // @LoggerMessage: XKF0 // @Description: EKF3 beacon sensor diagnostics // @Field: TimeUS: Time since system startup +// @Field: C: EKF3 core this data is for // @Field: ID: Beacon sensor ID // @Field: rng: Beacon range // @Field: innov: Beacon range innovation @@ -2397,6 +2400,7 @@ struct PACKED log_PSC { // @LoggerMessage: XKF5 // @Description: EKF3 Sensor innovations (primary core) and general dumping ground // @Field: TimeUS: Time since system startup +// @Field: C: EKF3 core this data is for // @Field: NI: Normalised flow variance // @Field: FIX: Optical flow LOS rate vector innovations from the main nav filter (X-axis) // @Field: FIY: Optical flow LOS rate vector innovations from the main nav filter (Y-axis) @@ -2422,6 +2426,7 @@ struct PACKED log_PSC { // @LoggerMessage: XKFD // @Description: EKF3 Body Frame Odometry errors // @Field: TimeUS: Time since system startup +// @Field: C: EKF3 core this data is for // @Field: IX: Innovation in velocity (X-axis) // @Field: IY: Innovation in velocity (Y-axis) // @Field: IZ: Innovation in velocity (Z-axis) @@ -2441,6 +2446,7 @@ struct PACKED log_PSC { // @LoggerMessage: XKV1 // @Description: EKF3 State variances (primary core) // @Field: TimeUS: Time since system startup +// @Field: C: EKF3 core this data is for // @Field: V00: Variance for state 0 // @Field: V01: Variance for state 1 // @Field: V02: Variance for state 2 @@ -2457,6 +2463,7 @@ struct PACKED log_PSC { // @LoggerMessage: XKV2 // @Description: more EKF3 State Variances (primary core) // @Field: TimeUS: Time since system startup +// @Field: C: EKF3 core this data is for // @Field: V12: Variance for state 12 // @Field: V13: Variance for state 13 // @Field: V14: Variance for state 14