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preflt-chk: report strength and inclination failure values

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This commit is contained in:
bresch
2023-07-25 11:21:05 -04:00
committed by Daniel Agar
parent 19d6e69b0b
commit 99309625e8
1 changed files with 8 additions and 3 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+8 -3
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@@ -184,12 +184,17 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
/* EVENT
* @description
* <profile name="dev">
* Measured strength: {1:.3}, expected: {2:.3} ± <param>EKF2_MAG_CHK_STR</param>
* Measured inclination: {3:.3}, expected: {4:.3} ± <param>EKF2_MAG_CHK_INC</param>
* This check can be configured via <param>COM_ARM_MAG_STR</param> and <param>EKF2_MAG_CHECK</param> parameters.
* </profile>
*/
reporter.armingCheckFailure(required_groups_mag, health_component_t::local_position_estimate,
events::ID("check_estimator_mag_interference"),
events::Log::Warning, "Strong magnetic interference");
reporter.armingCheckFailure<float, float, float, float>(required_groups_mag,
health_component_t::local_position_estimate,
events::ID("check_estimator_mag_interference"),
events::Log::Warning, "Strong magnetic interference",
estimator_status.mag_strength_gs, estimator_status.mag_strength_ref_gs,
estimator_status.mag_inclination_deg, estimator_status.mag_inclination_ref_deg);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Strong magnetic interference");