From d330d4749565bacdfa3bbaa3b166ebfdf56761b4 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 09:48:59 +0100 Subject: [PATCH] EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid Helps to reduce spamming of less important warnings. Signed-off-by: Silvan Fuhrer --- .../commander/HealthAndArmingChecks/checks/estimatorCheck.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 9bb33f2bd2..1cdd097b12 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -293,7 +293,9 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor mavlink_log_warning(reporter.mavlink_log_pub(), "GNSS data fusion stopped\t"); } - events::send(events::ID("check_estimator_gnss_fusion_stopped"), {events::Log::Error, events::LogInternal::Info}, + // only report this failure as critical if not already in a local position invalid state + events::Log log_level = reporter.failsafeFlags().local_position_invalid ? events::Log::Info : events::Log::Error; + events::send(events::ID("check_estimator_gnss_fusion_stopped"), {log_level, events::LogInternal::Info}, "GNSS data fusion stopped"); } else if (!_gps_was_fused && ekf_gps_fusion) {