Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: ignore first ekf core switch

Browse Source 
The ekf core is initialised to -1 but after initialisation changes to zero.  Ignore this first change.
This commit is contained in:
Randy Mackay 2016-10-13 15:20:16 +09:00
parent ec1462dccf
commit 26c3295042
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Copter.h
View File

@ -223,7 +223,7 @@ private:
// system time in milliseconds of last recorded yaw reset from ekf // system time in milliseconds of last recorded yaw reset from ekf
uint32_t ekfYawReset_ms = 0; uint32_t ekfYawReset_ms = 0;
uint8_t ekf_primary_core; int8_t ekf_primary_core;
// GCS selection // GCS selection
AP_SerialManager serial_manager; AP_SerialManager serial_manager;

4
ArduCopter/ekf_check.cpp
View File

@ -183,10 +183,10 @@ void Copter::check_ekf_reset()
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
// check for change in primary EKF (log only, AC_WPNav handles position target adjustment) // check for change in primary EKF (log only, AC_WPNav handles position target adjustment)
if (EKF2.getPrimaryCoreIndex() != ekf_primary_core) { if ((EKF2.getPrimaryCoreIndex() != ekf_primary_core) && (EKF2.getPrimaryCoreIndex() != -1)) {
ekf_primary_core = EKF2.getPrimaryCoreIndex(); ekf_primary_core = EKF2.getPrimaryCoreIndex();
Log_Write_Error(ERROR_SUBSYSTEM_EKF_PRIMARY, ekf_primary_core); Log_Write_Error(ERROR_SUBSYSTEM_EKF_PRIMARY, ekf_primary_core);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "EKF primary changed:%u\n", (unsigned)ekf_primary_core); gcs_send_text_fmt(MAV_SEVERITY_WARNING, "EKF primary changed:%d\n", (unsigned)ekf_primary_core);
} }
#endif #endif
} }