Last week we were trying the gps blending functionality and we noticed that we don’t get logs from the blended instance. Upon inspection of the code, I found that logging is done when updating the different gps instances. The blended solution is only computed later and as far as I understand not included in the loop for updating the instances.
Is the logging of the blended solution removed for a specific reason (space, loop speed, …) or is this accidental?
If accidental, can I reactivate the logging by adding a call to the logger at the end of the calc_blended_state() function, by adding the code shown below?
#ifndef HAL_BUILD_AP_PERIPH
if (data_should_be_logged &&
(should_log() || AP::ahrs().have_ekf_logging())) {
AP::logger().Write_GPS(GPS_BLENDED_INSTANCE);
}
#else
(void)data_should_be_logged;
#endif