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Copter: rename EKF check's error message to dataflash

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It checks more than the compass so the old error message was misleading.
This commit is contained in:
Randy Mackay 2014-08-09 15:48:42 +09:00
parent 5d4e019397
commit 4723ed5e6e
2 changed files with 4 additions and 4 deletions
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4
ArduCopter/defines.h
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@ -375,8 +375,8 @@ enum FlipState {
// parachute failed to deploy because of low altitude // parachute failed to deploy because of low altitude
#define ERROR_CODE_PARACHUTE_TOO_LOW 2 #define ERROR_CODE_PARACHUTE_TOO_LOW 2
// EKF check definitions // EKF check definitions
#define ERROR_CODE_EKF_CHECK_BAD_COMPASS 2 #define ERROR_CODE_EKF_CHECK_BAD_VARIANCE 2
#define ERROR_CODE_EKF_CHECK_BAD_COMPASS_CLEARED 0 #define ERROR_CODE_EKF_CHECK_BAD_VARIANCE_CLEARED 0
// Baro specific error codes // Baro specific error codes
#define ERROR_CODE_BARO_GLITCH 2 #define ERROR_CODE_BARO_GLITCH 2

4
ArduCopter/ekf_check.pde
View File

@ -76,7 +76,7 @@ void ekf_check()
ekf_check_state.fail_count_compass = EKF_CHECK_ITERATIONS_MAX; ekf_check_state.fail_count_compass = EKF_CHECK_ITERATIONS_MAX;
ekf_check_state.bad_compass = true; ekf_check_state.bad_compass = true;
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_EKF_CHECK, ERROR_CODE_EKF_CHECK_BAD_COMPASS); Log_Write_Error(ERROR_SUBSYSTEM_EKF_CHECK, ERROR_CODE_EKF_CHECK_BAD_VARIANCE);
// send message to gcs // send message to gcs
if ((hal.scheduler->millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) { if ((hal.scheduler->millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("EKF variance")); gcs_send_text_P(SEVERITY_HIGH,PSTR("EKF variance"));
@ -94,7 +94,7 @@ void ekf_check()
if (ekf_check_state.fail_count_compass == 0) { if (ekf_check_state.fail_count_compass == 0) {
ekf_check_state.bad_compass = false; ekf_check_state.bad_compass = false;
// log recovery in the dataflash // log recovery in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_EKF_CHECK, ERROR_CODE_EKF_CHECK_BAD_COMPASS_CLEARED); Log_Write_Error(ERROR_SUBSYSTEM_EKF_CHECK, ERROR_CODE_EKF_CHECK_BAD_VARIANCE_CLEARED);
// clear failsafe // clear failsafe
failsafe_ekf_off_event(); failsafe_ekf_off_event();
} }