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Remove EKF prefix from logged messages

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This commit is contained in:
kamilritz
2019-12-09 09:23:24 +01:00
committed by Mathieu Bresciani
parent 88c4929c96
commit 1bf09fd370
9 changed files with 54 additions and 53 deletions
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EKF/control.cpp
+20 -20
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@@ -191,14 +191,14 @@ void Ekf::controlExternalVisionFusion()
if (_params.fusion_mode & MASK_USE_EVPOS && !_control_status.flags.ev_pos) {
_control_status.flags.ev_pos = true;
resetPosition();
ECL_INFO_TIMESTAMPED("EKF commencing external vision position fusion");
ECL_INFO_TIMESTAMPED("commencing external vision position fusion");
}
// turn on use of external vision measurements for velocity
if (_params.fusion_mode & MASK_USE_EVVEL && !_control_status.flags.ev_vel) {
_control_status.flags.ev_vel = true;
resetVelocity();
ECL_INFO_TIMESTAMPED("EKF commencing external vision velocity fusion");
ECL_INFO_TIMESTAMPED("commencing external vision velocity fusion");
}
if ((_params.fusion_mode & MASK_ROTATE_EV) && !(_params.fusion_mode & MASK_USE_EVYAW)
@@ -206,7 +206,7 @@ void Ekf::controlExternalVisionFusion()
// Reset transformation between EV and EKF navigation frames when starting fusion
resetExtVisRotMat();
_ev_rot_mat_initialised = true;
ECL_INFO_TIMESTAMPED("EKF external vision aligned");
ECL_INFO_TIMESTAMPED("external vision aligned");
}
}
}
@@ -261,7 +261,7 @@ void Ekf::controlExternalVisionFusion()
stopMagHdgFusion();
stopMag3DFusion();
ECL_INFO_TIMESTAMPED("EKF commencing external vision yaw fusion");
ECL_INFO_TIMESTAMPED("commencing external vision yaw fusion");
}
}
@@ -394,7 +394,7 @@ void Ekf::controlExternalVisionFusion()
// Turn off EV fusion mode if no data has been received
stopEvFusion();
ECL_INFO_TIMESTAMPED("EKF External Vision Data Stopped");
ECL_INFO_TIMESTAMPED("External Vision Data Stopped");
}
}
@@ -577,7 +577,7 @@ void Ekf::controlGpsFusion()
stopMagHdgFusion();
stopMag3DFusion();
ECL_INFO_TIMESTAMPED("EKF commencing GPS yaw fusion");
ECL_INFO_TIMESTAMPED("commencing GPS yaw fusion");
}
}
@@ -628,7 +628,7 @@ void Ekf::controlGpsFusion()
}
if (_control_status.flags.gps) {
ECL_INFO_TIMESTAMPED("EKF commencing GPS fusion");
ECL_INFO_TIMESTAMPED("commencing GPS fusion");
_time_last_gps = _time_last_imu;
}
}
@@ -646,7 +646,7 @@ void Ekf::controlGpsFusion()
if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {
resetPosition();
}
ECL_WARN_TIMESTAMPED("EKF GPS data quality poor - stopping use");
ECL_WARN_TIMESTAMPED("GPS data quality poor - stopping use");
}
// handle the case when we now have GPS, but have not been using it for an extended period
@@ -671,7 +671,7 @@ void Ekf::controlGpsFusion()
resetVelocity();
resetPosition();
_velpos_reset_request = false;
ECL_WARN_TIMESTAMPED("EKF GPS fusion timeout - reset to GPS");
ECL_WARN_TIMESTAMPED("GPS fusion timeout - reset to GPS");
// Reset the timeout counters
_time_last_hor_pos_fuse = _time_last_imu;
@@ -739,12 +739,12 @@ void Ekf::controlGpsFusion()
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
stopGpsFusion();
ECL_WARN_TIMESTAMPED("EKF GPS data stopped");
ECL_WARN_TIMESTAMPED("GPS data stopped");
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6) && (_control_status.flags.opt_flow || _control_status.flags.ev_pos || _control_status.flags.ev_vel)) {
// Handle the case where we are fusing another position source along GPS,
// stop waiting for GPS after 1 s of lost signal
stopGpsFusion();
ECL_WARN_TIMESTAMPED("EKF GPS data stopped, using only EV or OF");
ECL_WARN_TIMESTAMPED("GPS data stopped, using only EV or OF");
}
}
@@ -824,7 +824,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF baro hgt timeout - reset to GPS");
ECL_WARN_TIMESTAMPED("baro hgt timeout - reset to GPS");
} else if (reset_to_baro) {
// set height sensor health
@@ -835,7 +835,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF baro hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("baro hgt timeout - reset to baro");
} else {
// we have nothing we can reset to
@@ -875,7 +875,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF gps hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("gps hgt timeout - reset to baro");
} else if (reset_to_gps) {
// reset the height mode
@@ -883,7 +883,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF gps hgt timeout - reset to GPS");
ECL_WARN_TIMESTAMPED("gps hgt timeout - reset to GPS");
} else {
// we have nothing to reset to
@@ -909,7 +909,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF rng hgt timeout - reset to rng hgt");
ECL_WARN_TIMESTAMPED("rng hgt timeout - reset to rng hgt");
} else if (reset_to_baro) {
// set height sensor health
@@ -920,7 +920,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF rng hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("rng hgt timeout - reset to baro");
} else {
// we have nothing to reset to
@@ -954,7 +954,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF ev hgt timeout - reset to baro");
ECL_WARN_TIMESTAMPED("ev hgt timeout - reset to baro");
} else if (reset_to_ev) {
// reset the height mode
@@ -962,7 +962,7 @@ void Ekf::controlHeightSensorTimeouts()
// request a reset
reset_height = true;
ECL_WARN_TIMESTAMPED("EKF ev hgt timeout - reset to ev hgt");
ECL_WARN_TIMESTAMPED("ev hgt timeout - reset to ev hgt");
} else {
// we have nothing to reset to
@@ -1405,7 +1405,7 @@ void Ekf::controlFakePosFusion()
_fuse_hpos_as_odom = false;
if (_time_last_fake_pos != 0) {
ECL_WARN_TIMESTAMPED("EKF stopping navigation");
ECL_WARN_TIMESTAMPED("stopping navigation");
}
}