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Commander: improve user notification for yaw emergency

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2021-08-18 10:16:02 -04:00
committed by Daniel Agar
parent d089d4a6a4
commit 2607527d63
1 changed files with 2 additions and 2 deletions
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src/modules/commander/Commander.cpp
+2 -2
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@@ -3812,12 +3812,12 @@ void Commander::estimator_check()
const bool gnss_heading_fault = (estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GPS_YAW_FAULT));
if (!mag_fault_prev && mag_fault) {
mavlink_log_critical(&_mavlink_log_pub, "Stopping compass use! Check calibration on landing");
mavlink_log_critical(&_mavlink_log_pub, "Compass needs calibration - Land now!");
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG, true, true, false, _status);
}
if (!gnss_heading_fault_prev && gnss_heading_fault) {
mavlink_log_critical(&_mavlink_log_pub, "Stopping GNSS heading use! Check configuration on landing");
mavlink_log_critical(&_mavlink_log_pub, "GNSS heading not reliable - Land now!");
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GPS, true, true, false, _status);
}