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Copter: log EKF lane switch

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This commit is contained in:
Randy Mackay 2016-10-10 15:44:11 +09:00
parent 35864c6226
commit d74ae535d1
3 changed files with 10 additions and 0 deletions
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1
ArduCopter/Copter.h
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@ -223,6 +223,7 @@ private:
// system time in milliseconds of last recorded yaw reset from ekf // system time in milliseconds of last recorded yaw reset from ekf
uint32_t ekfYawReset_ms = 0; uint32_t ekfYawReset_ms = 0;
uint8_t ekf_primary_core;
// GCS selection // GCS selection
AP_SerialManager serial_manager; AP_SerialManager serial_manager;

1
ArduCopter/defines.h
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@ -407,6 +407,7 @@ enum DevOptions {
#define ERROR_SUBSYSTEM_TERRAIN 21 #define ERROR_SUBSYSTEM_TERRAIN 21
#define ERROR_SUBSYSTEM_NAVIGATION 22 #define ERROR_SUBSYSTEM_NAVIGATION 22
#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23 #define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23
#define ERROR_SUBSYSTEM_EKF_PRIMARY 24
// general error codes // general error codes
#define ERROR_CODE_ERROR_RESOLVED 0 #define ERROR_CODE_ERROR_RESOLVED 0
#define ERROR_CODE_FAILED_TO_INITIALISE 1 #define ERROR_CODE_FAILED_TO_INITIALISE 1

8
ArduCopter/ekf_check.cpp
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@ -181,4 +181,12 @@ void Copter::check_ekf_reset()
Log_Write_Event(DATA_EKF_YAW_RESET); Log_Write_Event(DATA_EKF_YAW_RESET);
} }
#if AP_AHRS_NAVEKF_AVAILABLE
// check for change in primary EKF (log only, AC_WPNav handles position target adjustment)
if (EKF2.getPrimaryCoreIndex() != ekf_primary_core) {
ekf_primary_core = EKF2.getPrimaryCoreIndex();
Log_Write_Error(ERROR_SUBSYSTEM_EKF_PRIMARY, ekf_primary_core);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "EKF primary changed:%u\n", (unsigned)ekf_primary_core);
}
#endif
} }