AP_NavEKF3: Corrected logged units

ArduPilot · Aug 7, 2024 · 1f01f75 · 1f01f75
1 parent 7eb9bfc
commit 1f01f75
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Showing 2 changed files with 11 additions and 11 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
@@ -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 : (int16_t)(100*velVar),
-        sqrtvarP : (int16_t)(100*posVar),
-        sqrtvarH : (int16_t)(100*hgtVar),
-        sqrtvarM : (int16_t)(100*tempVar),
-        sqrtvarVT : (int16_t)(100*tasVar),
+        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),
         tiltErr : sqrtF(MAX(tiltErrorVariance,0.0f)),  // estimated 1-sigma tilt error in radians
         offsetNorth : offset.x,
         offsetEast : offset.y,

diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h
@@ -193,11 +193,11 @@ struct PACKED log_XKF4 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     uint8_t core;
-    int16_t sqrtvarV;
-    int16_t sqrtvarP;
-    int16_t sqrtvarH;
-    int16_t sqrtvarM;
-    int16_t sqrtvarVT;
+    uint16_t sqrtvarV;
+    uint16_t sqrtvarP;
+    uint16_t sqrtvarH;
+    uint16_t sqrtvarM;
+    uint16_t sqrtvarVT;
     float   tiltErr;
     float  offsetNorth;
     float  offsetEast;
@@ -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","QBcccccfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-------??-----" , true }, \
+      "XKF4","QBHHHHHfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-BBBBB-??-----" , 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), \