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AP_Compass: move logging of compass ERR flags into AP_Compass

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Peter Barker 2022-05-03 11:50:34 +10:00 committed by Peter Barker
parent b33fda72fe
commit 3ec0e27e4f
1 changed files with 19 additions and 1 deletions
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20
libraries/AP_Compass/AP_Compass.cpp
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@ -1580,6 +1580,10 @@ Compass::read(void)
return false;
}
#if HAL_LOGGING_ENABLED
const bool old_healthy = healthy();
#endif
#ifndef HAL_BUILD_AP_PERIPH
if (!_initial_location_set) {
try_set_initial_location();
@ -1620,7 +1624,21 @@ Compass::read(void)
break;
}
}
return healthy();
const bool new_healthy = healthy();
#if HAL_LOGGING_ENABLED
#define MASK_LOG_ANY 0xFFFF
if (new_healthy != old_healthy) {
if (AP::logger().should_log(MASK_LOG_ANY)) {
const LogErrorCode code = new_healthy ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY;
AP::logger().Write_Error(LogErrorSubsystem::COMPASS, code);
}
}
#endif
return new_healthy;
}
uint8_t