From 83d78b6336eb8b9b87a1a59690a348c51811c9a8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 27 May 2022 21:28:48 +1000 Subject: [PATCH] AP_NavEKF3: log set source events --- libraries/AP_NavEKF3/AP_NavEKF3.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index 815c113b1c..b6b1e71fe7 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -1083,6 +1083,9 @@ void NavEKF3::resetCoreErrors(void) // set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary void NavEKF3::setPosVelYawSourceSet(uint8_t source_set_idx) { + if (source_set_idx < AP_NAKEKF_SOURCE_SET_MAX) { + AP::dal().log_event3(AP_DAL::Event(uint8_t(AP_DAL::Event::setSourceSet0)+source_set_idx)); + } sources.setPosVelYawSourceSet(source_set_idx); }