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EKF2: send event when yaw gets aligned

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bresch
2024-11-27 10:06:14 +01:00
parent 1af2f12152
commit 170215aeff
1 changed files with 8 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
+8
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@@ -1265,6 +1265,14 @@ void EKF2::SendEvents()
_ekf.clear_information_events(); _ekf.clear_information_events();
} }
if (_ekf.control_status_flags().yaw_align && !_ekf.control_status_prev_flags().yaw_align) {
/* EVENT
* @group ekf2
*/
events::send<int32_t>(events::ID("ekf2_yaw_align"), events::Log::Debug,
"EKF2({1}): yaw aligned", _instance);
}
} }
void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp) void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)