ULoPoS EKF debug msgs

diff --git a/src/uzv/ekf/ekf.h b/src/uzv/ekf/ekf.h
index fce3e76a8e836b70ce859615d4a59671e21f6485..f18dd2497b7587432b3924200d14528f738f587f 100644 (file)
--- a/src/uzv/ekf/ekf.h
+++ b/src/uzv/ekf/ekf.h
@@ -15,6 +15,13 @@ static inline real_t sqr(real_t x) {
 }
 #endif
 
+#ifdef EKF_DEBUG
+#include <stdio.h>
+#define DBG(fmt,...) fprintf(stderr, fmt, ##__VA_ARGS__)
+#else
+#define DBG(fmt,...)
+#endif
+
 typedef struct ekf_state_t {
   int n, m;
   real_t *x, *ym, *dy, *exc;