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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.hpp
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@@ -177,6 +177,7 @@ private:
perf_counter_t _ecl_ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL update")};
perf_counter_t _ecl_ekf_update_full_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL full update")};
perf_counter_t _imu_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};
perf_counter_t _mag_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": mag message missed")};
// Used to check, save and use learned magnetometer biases
hrt_abstime _mag_cal_last_us{0}; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)