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Rover: EKF failsafe message is displayed only when action triggered

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This commit is contained in:
Tatsuya Yamaguchi 2020-10-17 11:20:47 +09:00 committed by Randy Mackay
parent 379506b718
commit a730e47563
1 changed files with 3 additions and 2 deletions
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5
Rover/ekf_check.cpp
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@ -152,7 +152,6 @@ void Rover::failsafe_ekf_event()
failsafe.ekf = true;
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
LogErrorCode::FAILSAFE_OCCURRED);
gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF failsafe!");
// does this mode require position?
if (!control_mode->requires_position()) {
@ -163,12 +162,14 @@ void Rover::failsafe_ekf_event()
switch ((enum fs_ekf_action)g.fs_ekf_action.get()) {
case FS_EKF_DISABLE:
// do nothing
break;
return;
case FS_EFK_HOLD:
default:
set_mode(mode_hold, ModeReason::EKF_FAILSAFE);
break;
}
gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF failsafe");
}
// failsafe_ekf_off_event - actions to take when EKF failsafe is cleared