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PreflightCheck: improve output in case of mag inconsistency

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This commit is contained in:
Matthias Grob
2019-08-07 18:44:39 +02:00
committed by Lorenz Meier
parent fe37ee2b7f
commit 89a0a3acb6
1 changed files with 3 additions and 1 deletions
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src/modules/commander/PreflightCheck.cpp
+3 -1
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@@ -225,7 +225,9 @@ static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
pass = pass || sensors.mag_inconsistency_angle < math::radians<float>(angle_difference_limit_deg);
if (!pass && report_status) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Compass Sensors inconsistent");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Compasses %d° inconsistent",
static_cast<int>(math::degrees<float>(sensors.mag_inconsistency_angle)));
mavlink_log_critical(mavlink_log_pub, "Please check orientations and recalibrate");
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_MAG, false, status);
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_MAG2, false, status);
}