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ekf2: replace mag missed error message with perf count 

- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
This commit is contained in:
Daniel Agar 2021-05-24 20:52:07 -04:00 committed by GitHub
parent 187297653a
commit 22838f491a
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 10 additions and 2 deletions
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11
src/modules/ekf2/EKF2.cpp
View File

@ -170,6 +170,7 @@ EKF2::~EKF2()
perf_free(_ecl_ekf_update_perf);
perf_free(_ecl_ekf_update_full_perf);
perf_free(_imu_missed_perf);
perf_free(_mag_missed_perf);
}
bool EKF2::multi_init(int imu, int mag)
@ -222,6 +223,11 @@ int EKF2::print_status()
perf_print_counter(_ecl_ekf_update_perf);
perf_print_counter(_ecl_ekf_update_full_perf);
perf_print_counter(_imu_missed_perf);
if (_device_id_mag != 0) {
perf_print_counter(_mag_missed_perf);
}
return 0;
}
@ -1517,8 +1523,9 @@ void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps)
if (_magnetometer_sub.update(&magnetometer)) {
if (_magnetometer_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("%d - vehicle_magnetometer lost, generation %d -> %d", _instance, last_generation,
_magnetometer_sub.get_last_generation());
perf_count(_mag_missed_perf);
PX4_DEBUG("%d - vehicle_magnetometer lost, generation %d -> %d", _instance, last_generation,
_magnetometer_sub.get_last_generation());
}
bool reset = false;

1
src/modules/ekf2/EKF2.hpp
View File

@ -177,6 +177,7 @@ private:
perf_counter_t _ecl_ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL update")};
perf_counter_t _ecl_ekf_update_full_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL full update")};
perf_counter_t _imu_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};
perf_counter_t _mag_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": mag message missed")};
// Used to check, save and use learned magnetometer biases
hrt_abstime _mag_cal_last_us{0}; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)