Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 08:38:36 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: add missing parenthesis and console message

Browse Source
This commit is contained in:
priseborough 2016-07-15 13:52:32 +10:00 committed by Andrew Tridgell
parent 9a23152ee4
commit f4f347fb75
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
View File

@ -227,6 +227,7 @@ void NavEKF2_core::setAidingMode()
// set various usage modes based on the condition when we start aiding. These are then held until aiding is stopped. // set various usage modes based on the condition when we start aiding. These are then held until aiding is stopped.
if (PV_AidingMode == AID_NONE) { if (PV_AidingMode == AID_NONE) {
// We have ceased aiding // We have ceased aiding
hal.console->printf("EKF2 IMU%u has stopped aiding\n",(unsigned)imu_index);
// When not aiding, estimate orientation & height fusing synthetic constant position and zero velocity measurement to constrain tilt errors // When not aiding, estimate orientation & height fusing synthetic constant position and zero velocity measurement to constrain tilt errors
posTimeout = true; posTimeout = true;
velTimeout = true; velTimeout = true;
@ -388,7 +389,7 @@ bool NavEKF2_core::checkGyroCalStatus(void)
// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided // Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
uint8_t NavEKF2_core::setInhibitGPS(void) uint8_t NavEKF2_core::setInhibitGPS(void)
{ {
if(PV_AidingMode == AID_ABSOLUTE && motorsArmed) { if((PV_AidingMode == AID_ABSOLUTE) && motorsArmed) {
return 0; return 0;
} else { } else {
gpsInhibit = true; gpsInhibit = true;