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Rover: add ReportOnly option to FS_EKF_ACTION

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Tatsuya Yamaguchi 2020-10-26 20:04:58 +09:00 committed by Randy Mackay
parent a730e47563
commit 5d3dd5a8b8
3 changed files with 6 additions and 3 deletions
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4
Rover/Parameters.cpp
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@ -158,9 +158,9 @@ const AP_Param::Info Rover::var_info[] = {
// @Param: FS_EKF_ACTION // @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action // @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked // @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 0:Disabled,1:Hold // @Values: 0:Disabled,1:Hold,2:ReportOnly
// @User: Advanced // @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", 1), GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EFK_HOLD),
// @Param: FS_EKF_THRESH // @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold // @DisplayName: EKF failsafe variance threshold

3
Rover/defines.h
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@ -85,7 +85,8 @@ enum fs_crash_action {
enum fs_ekf_action { enum fs_ekf_action {
FS_EKF_DISABLE = 0, FS_EKF_DISABLE = 0,
FS_EFK_HOLD = 1 FS_EFK_HOLD = 1,
FS_EFK_REPORT_ONLY = 2,
}; };
#define DISTANCE_HOME_MINCHANGE 0.5f // minimum distance to adjust home location #define DISTANCE_HOME_MINCHANGE 0.5f // minimum distance to adjust home location

2
Rover/ekf_check.cpp
View File

@ -163,6 +163,8 @@ void Rover::failsafe_ekf_event()
case FS_EKF_DISABLE: case FS_EKF_DISABLE:
// do nothing // do nothing
return; return;
case FS_EFK_REPORT_ONLY:
break;
case FS_EFK_HOLD: case FS_EFK_HOLD:
default: default:
set_mode(mode_hold, ModeReason::EKF_FAILSAFE); set_mode(mode_hold, ModeReason::EKF_FAILSAFE);