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Revert "AP_NavEKF3: Corrected logged units" #28007

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merged 1 commit into from
Sep 5, 2024
Merged

Revert "AP_NavEKF3: Corrected logged units" #28007

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10 changes: 5 additions & 5 deletions libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,11 +165,11 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
time_us : time_us,
core : DAL_CORE(core_index),
sqrtvarV : (uint16_t)(100*velVar),
sqrtvarP : (uint16_t)(100*posVar),
sqrtvarH : (uint16_t)(100*hgtVar),
sqrtvarM : (uint16_t)(100*tempVar),
sqrtvarVT : (uint16_t)(100*tasVar),
sqrtvarV : (int16_t)(100*velVar),
sqrtvarP : (int16_t)(100*posVar),
sqrtvarH : (int16_t)(100*hgtVar),
sqrtvarM : (int16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar),
tiltErr : sqrtF(MAX(tiltErrorVariance,0.0f)), // estimated 1-sigma tilt error in radians
offsetNorth : offset.x,
offsetEast : offset.y,
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12 changes: 6 additions & 6 deletions libraries/AP_NavEKF3/LogStructure.h
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Expand Up @@ -193,11 +193,11 @@ struct PACKED log_XKF4 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t core;
uint16_t sqrtvarV;
uint16_t sqrtvarP;
uint16_t sqrtvarH;
uint16_t sqrtvarM;
uint16_t sqrtvarVT;
int16_t sqrtvarV;
int16_t sqrtvarP;
int16_t sqrtvarH;
int16_t sqrtvarM;
int16_t sqrtvarVT;
float tiltErr;
float offsetNorth;
float offsetEast;
Expand Down Expand Up @@ -437,7 +437,7 @@ struct PACKED log_XKV {
{ LOG_XKF3_MSG, sizeof(log_XKF3), \
"XKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGGd?--", "F-BBBBBBCCCBB00" , true }, \
{ LOG_XKF4_MSG, sizeof(log_XKF4), \
"XKF4","QBHHHHHfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-BBBBB-??-----" , true }, \
"XKF4","QBcccccfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-------??-----" , true }, \
{ LOG_XKF5_MSG, sizeof(log_XKF5), \
"XKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" , true }, \
{ LOG_XKFD_MSG, sizeof(log_XKFD), \
Expand Down
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