Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: send a text msg when active EKF changes

This commit is contained in:
Andrew Tridgell 2020-12-31 09:42:44 +11:00 committed by Peter Barker
parent 9dbd2d3eba
commit 75ad1a7d31
2 changed files with 12 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -29,6 +29,7 @@
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Notify/AP_Notify.h> #include <AP_Notify/AP_Notify.h>
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <GCS_MAVLink/GCS.h>
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
@ -67,6 +68,9 @@ void AP_AHRS_NavEKF::init()
EKF2.set_enable(true); EKF2.set_enable(true);
} }
#endif #endif
last_active_ekf_type = (EKFType)_ekf_type.get();
// init parent class // init parent class
AP_AHRS_DCM::init(); AP_AHRS_DCM::init();
} }
@ -173,6 +177,12 @@ void AP_AHRS_NavEKF::update(bool skip_ins_update)
// update NMEA output // update NMEA output
update_nmea_out(); update_nmea_out();
#endif #endif
EKFType active = active_EKF_type();
if (active != last_active_ekf_type) {
last_active_ekf_type = active;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "AHRS: EKF%u active", unsigned(active));
}
} }
void AP_AHRS_NavEKF::update_DCM(bool skip_ins_update) void AP_AHRS_NavEKF::update_DCM(bool skip_ins_update)

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -389,6 +389,8 @@ private:
TriState takeoffExpectedState = TriState::UNKNOWN; TriState takeoffExpectedState = TriState::UNKNOWN;
TriState terrainHgtStableState = TriState::UNKNOWN; TriState terrainHgtStableState = TriState::UNKNOWN;
EKFType last_active_ekf_type;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL *_sitl; SITL::SITL *_sitl;
uint32_t _last_body_odm_update_ms; uint32_t _last_body_odm_update_ms;