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Reduce stored strings, to save flash space (#815)

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This commit is contained in:
kritz
2020-05-13 08:09:26 +02:00
committed by GitHub
parent 98801ad17b
commit 24f2e60b7e
8 changed files with 48 additions and 29 deletions
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EKF/control.cpp
+28 -14
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@@ -71,14 +71,14 @@ void Ekf::controlFusionModes()
height_source = "gps";
} else if (_control_status.flags.rng_hgt) {
height_source = "range";
height_source = "rng";
} else {
height_source = "unknown";
}
if(height_source){
ECL_INFO("%llu: EKF aligned, (%s height, IMU buf: %i, OBS buf: %i)",
ECL_INFO("%llu: EKF aligned, (%s hgt, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length);
}
}
@@ -537,7 +537,7 @@ void Ekf::controlGpsFusion()
stopMagHdgFusion();
stopMag3DFusion();
ECL_INFO_TIMESTAMPED("commencing GPS yaw fusion");
ECL_INFO_TIMESTAMPED("starting GPS yaw fusion");
}
}
@@ -588,7 +588,7 @@ void Ekf::controlGpsFusion()
}
if (_control_status.flags.gps) {
ECL_INFO_TIMESTAMPED("commencing GPS fusion");
ECL_INFO_TIMESTAMPED("starting GPS fusion");
_time_last_gps = _time_last_imu;
}
}
@@ -606,7 +606,7 @@ void Ekf::controlGpsFusion()
if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {
resetPosition();
}
ECL_WARN_TIMESTAMPED("GPS data quality poor - stopping use");
ECL_WARN_TIMESTAMPED("GPS quality poor - stopping use");
}
// handle case where we are not currently using GPS, but need to align yaw angle using EKF-GSF before
@@ -760,6 +760,8 @@ void Ekf::controlHeightSensorTimeouts()
if (hgt_fusion_timeout || continuous_bad_accel_hgt) {
bool request_height_reset = false;
const char* failing_height_source = nullptr;
const char* new_height_source = nullptr;
if (_control_status.flags.baro_hgt) {
// check if GPS height is available
@@ -780,11 +782,13 @@ void Ekf::controlHeightSensorTimeouts()
startGpsHgtFusion();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("baro hgt timeout - reset to GPS");
failing_height_source = "baro";
new_height_source = "gps";
} else if (!_baro_hgt_faulty) {
request_height_reset = true;
ECL_WARN_TIMESTAMPED("baro hgt timeout - reset to baro");
failing_height_source = "baro";
new_height_source = "baro";
}
} else if (_control_status.flags.gps_hgt) {
@@ -806,24 +810,28 @@ void Ekf::controlHeightSensorTimeouts()
startBaroHgtFusion();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("gps hgt timeout - reset to baro");
failing_height_source = "gps";
new_height_source = "baro";
} else if (!_gps_hgt_intermittent) {
request_height_reset = true;
ECL_WARN_TIMESTAMPED("gps hgt timeout - reset to GPS");
failing_height_source = "gps";
new_height_source = "gps";
}
} else if (_control_status.flags.rng_hgt) {
if (_range_sensor.isHealthy()) {
request_height_reset = true;
ECL_WARN_TIMESTAMPED("rng hgt timeout - reset to rng hgt");
failing_height_source = "rng";
new_height_source = "rng";
} else if (!_baro_hgt_faulty) {
startBaroHgtFusion();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("rng hgt timeout - reset to baro");
failing_height_source = "rng";
new_height_source = "baro";
}
} else if (_control_status.flags.ev_hgt) {
@@ -833,16 +841,22 @@ void Ekf::controlHeightSensorTimeouts()
if (ev_data_available) {
request_height_reset = true;
ECL_WARN_TIMESTAMPED("ev hgt timeout - reset to ev hgt");
failing_height_source = "ev";
new_height_source = "ev";
} else if (!_baro_hgt_faulty) {
startBaroHgtFusion();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("ev hgt timeout - reset to baro");
failing_height_source = "ev";
new_height_source = "baro";
}
}
if (failing_height_source && new_height_source) {
ECL_WARN("%s hgt timeout - reset to %s", failing_height_source, new_height_source);
}
// Reset vertical position and velocity states to the last measurement
if (request_height_reset) {
resetHeight();
@@ -901,7 +915,7 @@ void Ekf::controlHeightFusion()
switch (_params.vdist_sensor_type) {
default:
ECL_ERR("Invalid height mode: %d", _params.vdist_sensor_type);
ECL_ERR("Invalid hgt mode: %d", _params.vdist_sensor_type);
// FALLTHROUGH
case VDIST_SENSOR_BARO: