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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 <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-03-14 09:48:59 +01:00 committed by Beat Küng
parent 6d8273483c
commit d330d47495
1 changed files with 3 additions and 1 deletions
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4
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
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@ -293,7 +293,9 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
mavlink_log_warning(reporter.mavlink_log_pub(), "GNSS data fusion stopped\t"); 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"); "GNSS data fusion stopped");
} else if (!_gps_was_fused && ekf_gps_fusion) { } else if (!_gps_was_fused && ekf_gps_fusion) {