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EKF: Rationalise console messages

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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
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EKF/gps_checks.cpp
+3 -2
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@@ -61,7 +61,6 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
if (!_NED_origin_initialised) {
// we have good GPS data so can now set the origin's WGS-84 position
if (gps_is_good(gps) && !_NED_origin_initialised) {
ECL_INFO("EKF gps is good - setting origin");
// Set the origin's WGS-84 position to the last gps fix
double lat = gps->lat / 1.0e7;
double lon = gps->lon / 1.0e7;
@@ -86,12 +85,14 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
// if the user has selected GPS as the primary height source, switch across to using it
if (_primary_hgt_source == VDIST_SENSOR_GPS) {
ECL_INFO("EKF switching to GPS height");
ECL_INFO("EKF GPS checks passed (WGS-84 origin set, using GPS height)");
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
// zero the sensor offset
_hgt_sensor_offset = 0.0f;
} else {
ECL_INFO("EKF GPS checks passed (WGS-84 origin set)");
}
}
}