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AP_ExternalAHRS: Don't send init message till booted up

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-03-23 17:22:19 -06:00 committed by Randy Mackay
parent ecd11d1903
commit 029d22c2a9
1 changed files with 4 additions and 3 deletions
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libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
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@ -93,11 +93,12 @@ void AP_ExternalAHRS_MicroStrain7::update_thread(void)
void AP_ExternalAHRS_MicroStrain7::check_initialise_state(void) void AP_ExternalAHRS_MicroStrain7::check_initialise_state(void)
{ {
const auto new_init_state = initialised(); const auto new_init_state = initialised();
if (!last_init_state && new_init_state) { // Only send the message after fully booted up, otherwise it gets dropped.
if (!last_init_state && new_init_state && AP_HAL::millis() > 5000) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "MicroStrain7 ExternalAHRS initialised."); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "MicroStrain7 ExternalAHRS initialised.");
}
last_init_state = new_init_state; last_init_state = new_init_state;
} }
}
// Builds packets by looking at each individual byte, once a full packet has been read in it checks the checksum then handles the packet. // Builds packets by looking at each individual byte, once a full packet has been read in it checks the checksum then handles the packet.