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AP_RCTelemetry: check EKF checks against failsafe defaults.

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Andy Piper 2022-04-01 20:57:47 +01:00 committed by Andrew Tridgell
parent c805310152
commit 13464ebb20
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_RCTelemetry/AP_RCTelemetry.cpp
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@ -253,23 +253,23 @@ void AP_RCTelemetry::check_ekf_status(void)
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if ((now - check_ekf_status_timer) >= 10000) { // prevent repeating any ekf_status message unless 10 seconds have passed if ((now - check_ekf_status_timer) >= 10000) { // prevent repeating any ekf_status message unless 10 seconds have passed
// multiple errors can be reported at a time. Same setup as Mission Planner. // multiple errors can be reported at a time. Same setup as Mission Planner.
if (velVar >= 1) { if (velVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error velocity variance"); queue_message(MAV_SEVERITY_CRITICAL, "Error velocity variance");
check_ekf_status_timer = now; check_ekf_status_timer = now;
} }
if (posVar >= 1) { if (posVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error pos horiz variance"); queue_message(MAV_SEVERITY_CRITICAL, "Error pos horiz variance");
check_ekf_status_timer = now; check_ekf_status_timer = now;
} }
if (hgtVar >= 1) { if (hgtVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error pos vert variance"); queue_message(MAV_SEVERITY_CRITICAL, "Error pos vert variance");
check_ekf_status_timer = now; check_ekf_status_timer = now;
} }
if (magVar.length() >= 1) { if (magVar.length() >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error compass variance"); queue_message(MAV_SEVERITY_CRITICAL, "Error compass variance");
check_ekf_status_timer = now; check_ekf_status_timer = now;
} }
if (tasVar >= 1) { if (tasVar >= 0.8f) {
queue_message(MAV_SEVERITY_CRITICAL, "Error terrain alt variance"); queue_message(MAV_SEVERITY_CRITICAL, "Error terrain alt variance");
check_ekf_status_timer = now; check_ekf_status_timer = now;
} }