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AP_NavEKF: Update console message and param descriptions for multiple EKF's

This commit is contained in:
Paul Riseborough 2015-11-06 12:06:25 +11:00 committed by Andrew Tridgell
parent 2340e18fdc
commit 49f9ea317c
3 changed files with 7 additions and 8 deletions
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3
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -397,7 +397,8 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Param: IMU_MASK // @Param: IMU_MASK
// @DisplayName: Bitmask of active IMUs // @DisplayName: Bitmask of active IMUs
// @Description: 1 byte bitmap of IMUs to use in EKF2 // @Description: 1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
// @Range: 1 127
// @User: Advanced // @User: Advanced
AP_GROUPINFO("IMU_MASK", 33, NavEKF2, _imuMask, 1), AP_GROUPINFO("IMU_MASK", 33, NavEKF2, _imuMask, 1),

10
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -123,7 +123,7 @@ void NavEKF2_core::setAidingMode()
stateStruct.position.z = -meaHgtAtTakeOff; stateStruct.position.z = -meaHgtAtTakeOff;
} else if (frontend->_fusionModeGPS == 3) { } else if (frontend->_fusionModeGPS == 3) {
// We have commenced aiding, but GPS useage has been prohibited so use optical flow only // We have commenced aiding, but GPS useage has been prohibited so use optical flow only
hal.console->printf("EKF2 is using optical flow\n"); hal.console->printf("EKF2 IMU%i is using optical flow\n",imu_index);
PV_AidingMode = AID_RELATIVE; // we have optical flow data and can estimate all vehicle states PV_AidingMode = AID_RELATIVE; // we have optical flow data and can estimate all vehicle states
posTimeout = true; posTimeout = true;
velTimeout = true; velTimeout = true;
@ -133,7 +133,7 @@ void NavEKF2_core::setAidingMode()
prevFlowFuseTime_ms = imuSampleTime_ms; prevFlowFuseTime_ms = imuSampleTime_ms;
} else { } else {
// We have commenced aiding and GPS useage is allowed // We have commenced aiding and GPS useage is allowed
hal.console->printf("EKF2 is using GPS\n"); hal.console->printf("EKF2 IMU%i is using GPS\n",imu_index);
PV_AidingMode = AID_ABSOLUTE; // we have GPS data and can estimate all vehicle states PV_AidingMode = AID_ABSOLUTE; // we have GPS data and can estimate all vehicle states
posTimeout = false; posTimeout = false;
velTimeout = false; velTimeout = false;
@ -169,7 +169,7 @@ void NavEKF2_core::checkAttitudeAlignmentStatus()
tiltErrFilt = alpha*temp + (1.0f-alpha)*tiltErrFilt; tiltErrFilt = alpha*temp + (1.0f-alpha)*tiltErrFilt;
if (tiltErrFilt < 0.005f && !tiltAlignComplete) { if (tiltErrFilt < 0.005f && !tiltAlignComplete) {
tiltAlignComplete = true; tiltAlignComplete = true;
hal.console->printf("EKF2 tilt alignment complete\n"); hal.console->printf("EKF2 IMU%i tilt alignment complete\n",imu_index);
} }
// Once tilt has converged, align yaw using magnetic field measurements // Once tilt has converged, align yaw using magnetic field measurements
@ -179,7 +179,7 @@ void NavEKF2_core::checkAttitudeAlignmentStatus()
stateStruct.quat = calcQuatAndFieldStates(eulerAngles.x, eulerAngles.y); stateStruct.quat = calcQuatAndFieldStates(eulerAngles.x, eulerAngles.y);
StoreQuatReset(); StoreQuatReset();
yawAlignComplete = true; yawAlignComplete = true;
hal.console->printf("EKF2 yaw alignment complete\n"); hal.console->printf("EKF2 IMU%i yaw alignment complete\n",imu_index);
} }
} }
@ -244,7 +244,7 @@ void NavEKF2_core::setOrigin()
// define Earth rotation vector in the NED navigation frame at the origin // define Earth rotation vector in the NED navigation frame at the origin
calcEarthRateNED(earthRateNED, _ahrs->get_home().lat); calcEarthRateNED(earthRateNED, _ahrs->get_home().lat);
validOrigin = true; validOrigin = true;
hal.console->printf("EKF2 Origin Set\n"); hal.console->printf("EKF2 IMU%i Origin Set\n",imu_index);
} }
// Commands the EKF to not use GPS. // Commands the EKF to not use GPS.

2
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -283,8 +283,6 @@ bool NavEKF2_core::InitialiseFilterBootstrap(void)
// set to true now that states have be initialised // set to true now that states have be initialised
statesInitialised = true; statesInitialised = true;
hal.console->printf("EKF2 initialised on IMU %u\n", (unsigned)imu_index);
return true; return true;
} }