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estimator: Fix minor reporting issues

This commit is contained in:
Lorenz Meier 2014-06-28 12:12:08 +02:00
parent 12c2802fa3
commit 196edd8a4f
1 changed files with 6 additions and 6 deletions
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12
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@ -644,7 +644,7 @@ FixedwingEstimator::check_filter_state()
rep.health_flags |= (((uint8_t)ekf_report.velHealth) << 0);
rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1);
rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2);
rep.health_flags |= (((uint8_t)ekf_report.gyroOffsetsExcessive) << 3);
rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3);
rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0);
rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1);
@ -655,14 +655,14 @@ FixedwingEstimator::check_filter_state()
if (rep.health_flags < ((1 << 0) | (1 << 1) | (1 << 2) | (1 << 3))) {
warnx("health: VEL:%s POS:%s HGT:%s OFFS:%s",
((rep.timeout_flags & (1 << 0)) ? "OK" : "ERR"),
((rep.timeout_flags & (1 << 1)) ? "OK" : "ERR"),
((rep.timeout_flags & (1 << 2)) ? "OK" : "ERR"),
((rep.timeout_flags & (1 << 3)) ? "OK" : "ERR"));
((rep.health_flags & (1 << 0)) ? "OK" : "ERR"),
((rep.health_flags & (1 << 1)) ? "OK" : "ERR"),
((rep.health_flags & (1 << 2)) ? "OK" : "ERR"),
((rep.health_flags & (1 << 3)) ? "OK" : "ERR"));
}
if (rep.timeout_flags) {
warnx("timeout: %s%s%s",
warnx("timeout: %s%s%s%s",
((rep.timeout_flags & (1 << 0)) ? "VEL " : ""),
((rep.timeout_flags & (1 << 1)) ? "POS " : ""),
((rep.timeout_flags & (1 << 2)) ? "HGT " : ""),