fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 03:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Rationalise console messages

Browse Source 
Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
This commit is contained in:
Paul Riseborough
2016-12-28 10:39:47 +01:00
committed by Lorenz Meier
parent 934890c2df
commit 3c4c09593f
4 changed files with 29 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.cpp
-5
View File
@@ -400,16 +400,11 @@ bool Ekf::initialiseFilter(void)
baroSample baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt;
_state.pos(2) = -math::max(_rng_filt_state * _R_to_earth(2, 2),_params.rng_gnd_clearance);
ECL_INFO("EKF using range finder height - commencing alignment");
} else if (_control_status.flags.ev_hgt) {
// if we are using external vision data for height, then the vertical position state needs to be reset
// because the initialisation position is not the zero datum
resetHeight();
ECL_INFO("EKF using vision height - commencing alignment");
} else if (_control_status.flags.baro_hgt){
ECL_INFO("EKF using pressure height - commencing alignment");
}