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ArduCopter: log GPS primary change event in GPS library

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Peter Barker 2021-07-30 13:18:05 +10:00 committed by Peter Barker
parent c9699d7ce4
commit 14e5c99b0c
2 changed files with 0 additions and 7 deletions
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1
ArduCopter/Copter.h
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@ -405,7 +405,6 @@ private:
struct { struct {
uint8_t baro : 1; // true if baro is healthy uint8_t baro : 1; // true if baro is healthy
uint8_t compass : 1; // true if compass is healthy uint8_t compass : 1; // true if compass is healthy
uint8_t primary_gps : 2; // primary gps index
} sensor_health; } sensor_health;
// Motor Output // Motor Output

6
ArduCopter/Log.cpp
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@ -265,12 +265,6 @@ void Copter::Log_Sensor_Health()
sensor_health.compass = compass.healthy(); sensor_health.compass = compass.healthy();
AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY)); AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
} }
// check primary GPS
if (sensor_health.primary_gps != gps.primary_sensor()) {
sensor_health.primary_gps = gps.primary_sensor();
AP::logger().Write_Event(LogEvent::GPS_PRIMARY_CHANGED);
}
} }
struct PACKED log_SysIdD { struct PACKED log_SysIdD {