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Remove on arming reset, be less verbose in normal conditions output

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Lorenz Meier
2016-08-05 06:51:54 -04:00
committed by James Goppert
parent 699b6a2cb3
commit 08f5ece306
6 changed files with 36 additions and 26 deletions
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src/modules/local_position_estimator/sensors/gps.cpp
+7 -5
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@@ -46,7 +46,7 @@ void BlockLocalPositionEstimator::gpsInit()
}
_gpsAltOrigin = _gpsStats.getMean()(2);
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] gps init "
PX4_INFO("[lpe] gps init "
"lat %6.2f lon %6.2f alt %5.1f m",
gpsLatOrigin,
gpsLonOrigin,
@@ -175,9 +175,11 @@ void BlockLocalPositionEstimator::gpsCorrect()
if (beta > BETA_TABLE[n_y_gps]) {
if (_gpsFault < FAULT_MINOR) {
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
if (beta > 2.0f * BETA_TABLE[n_y_gps]) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
}
_gpsFault = FAULT_MINOR;
}
@@ -202,7 +204,7 @@ void BlockLocalPositionEstimator::gpsCheckTimeout()
if (_gpsInitialized) {
_gpsInitialized = false;
_gpsStats.reset();
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] GPS timeout ");
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] GPS timeout ");
}
}
}