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Improved UAVCAN status reporting

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This commit is contained in:
Pavel Kirienko
2014-08-26 00:52:33 +04:00
parent c786f3ce07
commit eab701b896
5 changed files with 55 additions and 18 deletions
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src/modules/uavcan/sensors/gnss.cpp
+10
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@@ -70,6 +70,16 @@ unsigned UavcanGnssBridge::get_num_redundant_channels() const
return (_receiver_node_id < 0) ? 0 : 1;
}
void UavcanGnssBridge::print_status() const
{
printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount());
if (_receiver_node_id < 0) {
printf("N/A\n");
} else {
printf("%d\n", _receiver_node_id);
}
}
void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
{
// This bridge does not support redundant GNSS receivers yet.