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Code Issues Wiki Activity

altitude estimation debug mode

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This commit is contained in:
Alexander van Saase 2021-03-14 20:31:52 +01:00
parent d019eeb99d
commit d0e604a7ca
3 changed files with 11 additions and 1 deletions
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1
src/main/build/debug.h
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@ -82,5 +82,6 @@ typedef enum {
DEBUG_DYNAMIC_GYRO_LPF,
DEBUG_FW_D,
DEBUG_IMU2,
DEBUG_ALTITUDE,
DEBUG_COUNT
} debugType_e;

2
src/main/fc/settings.yaml
View file

@ -87,7 +87,7 @@ tables:
"FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
"ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2"]
"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE"]
- name: async_mode
values: ["NONE", "GYRO", "ALL"]
- name: aux_operator

9
src/main/navigation/navigation_pos_estimator.c
View file

@ -611,6 +611,15 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
return true;
}
DEBUG_SET(DEBUG_ALTITUDE, 0, posEstimator.est.pos.z); // Position estimate
DEBUG_SET(DEBUG_ALTITUDE, 2, posEstimator.baro.alt); // Baro altitude
DEBUG_SET(DEBUG_ALTITUDE, 4, posEstimator.gps.pos.z); // GPS altitude
DEBUG_SET(DEBUG_ALTITUDE, 6, accGetVibrationLevel()); // Vibration level
DEBUG_SET(DEBUG_ALTITUDE, 1, posEstimator.est.vel.z); // Vertical speed estimate
DEBUG_SET(DEBUG_ALTITUDE, 3, posEstimator.gps.vel.z); // GPS vertical speed
DEBUG_SET(DEBUG_ALTITUDE, 5, posEstimator.imu.accelNEU.z); // Vertical acceleration on earth frame
DEBUG_SET(DEBUG_ALTITUDE, 7, navGetAccelerometerWeight()); // Acceleromter weight in position/speed estimation
return false;
}