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commander: add pre-flight check and parameter for magnetic field strength

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bresch
2019-11-11 14:57:06 +01:00
committed by Mathieu Bresciani
parent a8ea55d9b6
commit 12177cb33b
4 changed files with 25 additions and 3 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
+5 -1
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@@ -65,7 +65,8 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
if (status.pre_flt_fail_innov_heading ||
status.pre_flt_fail_innov_vel_horiz ||
status.pre_flt_fail_innov_vel_vert ||
status.pre_flt_fail_innov_height) {
status.pre_flt_fail_innov_height ||
status.pre_flt_fail_mag_field_disturbed) {
if (report_fail) {
if (status.pre_flt_fail_innov_heading) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: heading estimate not stable");
@@ -78,6 +79,9 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
} else if (status.pre_flt_fail_innov_height) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: height estimate not stable");
} else if (status.pre_flt_fail_mag_field_disturbed) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: strong magnetic interference detected");
}
}