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ekf2: replace mag missed error message with perf count

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- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
This commit is contained in:
Daniel Agar
2021-05-24 20:52:07 -04:00
committed by GitHub
parent 187297653a
commit 22838f491a
2 changed files with 10 additions and 2 deletions
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src/modules/ekf2/EKF2.cpp
+9 -2
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@@ -170,6 +170,7 @@ EKF2::~EKF2()
perf_free(_ecl_ekf_update_perf);
perf_free(_ecl_ekf_update_full_perf);
perf_free(_imu_missed_perf);
perf_free(_mag_missed_perf);
}
bool EKF2::multi_init(int imu, int mag)
@@ -222,6 +223,11 @@ int EKF2::print_status()
perf_print_counter(_ecl_ekf_update_perf);
perf_print_counter(_ecl_ekf_update_full_perf);
perf_print_counter(_imu_missed_perf);
if (_device_id_mag != 0) {
perf_print_counter(_mag_missed_perf);
}
return 0;
}
@@ -1517,8 +1523,9 @@ void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps)
if (_magnetometer_sub.update(&magnetometer)) {
if (_magnetometer_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("%d - vehicle_magnetometer lost, generation %d -> %d", _instance, last_generation,
_magnetometer_sub.get_last_generation());
perf_count(_mag_missed_perf);
PX4_DEBUG("%d - vehicle_magnetometer lost, generation %d -> %d", _instance, last_generation,
_magnetometer_sub.get_last_generation());
}
bool reset = false;