From 89a0a3acb6893cc09dd0b9319579aa360218d701 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 26 Jun 2019 16:09:02 +0100 Subject: [PATCH] PreflightCheck: improve output in case of mag inconsistency --- src/modules/commander/PreflightCheck.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp index 98f18bf891..e310bb6894 100644 --- a/src/modules/commander/PreflightCheck.cpp +++ b/src/modules/commander/PreflightCheck.cpp @@ -225,7 +225,9 @@ static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s pass = pass || sensors.mag_inconsistency_angle < math::radians(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(math::degrees(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); }