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commander: report GNSS yaw fault to user

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bresch
2021-08-02 16:29:54 +02:00
committed by Mathieu Bresciani
parent 44219e9f45
commit 01d0b8800e
9 changed files with 20 additions and 5 deletions
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src/modules/ekf2/EKF/control.cpp
+2 -2
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@@ -751,7 +751,7 @@ void Ekf::controlGpsFusion()
void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
{
if (!(_params.fusion_mode & MASK_USE_GPSYAW)
|| _is_gps_yaw_faulty) {
|| _control_status.flags.gps_yaw_fault) {
stopGpsYawFusion();
return;
@@ -793,7 +793,7 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
} else if (starting_conditions_passing) {
// Data seems good, but previous reset did not fix the issue
// something else must be wrong, declare the sensor faulty and stop the fusion
_is_gps_yaw_faulty = true;
_control_status.flags.gps_yaw_fault = true;
stopGpsYawFusion();
} else {