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AP_AHRS: correct names for active EKF type

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This commit is contained in:
Peter Barker 2021-01-07 15:36:32 +11:00 committed by Andrew Tridgell
parent 409177d22a
commit 9099a9b622
1 changed files with 27 additions and 1 deletions
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28
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -181,7 +181,33 @@ void AP_AHRS_NavEKF::update(bool skip_ins_update)
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));
const char *shortname = "???";
switch ((EKFType)active) {
case EKFType::NONE:
shortname = "DCM";
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKFType::SITL:
shortname = "SITL";
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
case EKFType::EXTERNAL:
shortname = "External";
break;
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
shortname = "EKF3";
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
shortname = "EKF2";
break;
#endif
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "AHRS: %s active", shortname);
}
}