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AP_NavEKF3: log set source events

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Andrew Tridgell 2022-05-27 21:28:48 +10:00 committed by Randy Mackay
parent 8939974333
commit 83d78b6336
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1083,6 +1083,9 @@ void NavEKF3::resetCoreErrors(void)
// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary // set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
void NavEKF3::setPosVelYawSourceSet(uint8_t source_set_idx) 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); sources.setPosVelYawSourceSet(source_set_idx);
} }