AP_AHRS: DCM: log estimated wind

ArduPilot · Oct 8, 2024 · 8487657 · 8487657
1 parent 56de724
commit 8487657
Showing 1 changed file with 11 additions and 5 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -116,18 +116,24 @@ AP_AHRS_DCM::update()
 // @Field: Yaw: estimated yaw
 // @Field: ErrRP: lowest estimated gyro drift error
 // @Field: ErrYaw: difference between measured yaw and DCM yaw estimate
+// @Field: VWN: wind velocity, to-the-North component
+// @Field: VWE: wind velocity, to-the-East component
+// @Field: VWD: wind velocity, Up-to-Down component
         AP::logger().WriteStreaming(
             "DCM",
-            "TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw",
-            "s"       "d"     "d"      "d"    "d"      "h",
-            "F"       "0"     "0"      "0"    "0"      "0",
-            "Q"       "f"     "f"      "f"    "f"      "f",
+            "TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw," "VWN," "VWE," "VWD",
+            "s"       "d"     "d"      "d"    "d"      "h"       "n"    "n"    "n",
+            "F"       "0"     "0"      "0"    "0"      "0"       "0"    "0"    "0",
+            "Q"       "f"     "f"      "f"    "f"      "f"       "f"    "f"    "f",
             AP_HAL::micros64(),
             degrees(roll),
             degrees(pitch),
             wrap_360(degrees(yaw)),
             get_error_rp(),
-            get_error_yaw()
+            get_error_yaw(),
+            _wind.x,
+            _wind.y,
+            _wind.z
        );
     }
 #endif // HAL_LOGGING_ENABLED