From 6d8dfd78f11fdff038f7f7504c507d25429db195 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 14 Jun 2014 15:54:24 +0200 Subject: [PATCH 1/2] sdlog2/mtecs: fix length of field name --- src/modules/sdlog2/sdlog2_messages.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index c42ff0afec..5645ebcf19 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -431,7 +431,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), - LOG_FORMAT(TECS, "fffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,Mod"), + LOG_FORMAT(TECS, "fffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), /* system-level messages, ID >= 0x80 */ From de5c3580b341759bbc4c35bba46d34033e02df10 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 15 Jun 2014 10:56:07 +0200 Subject: [PATCH 2/2] adding individual warnings for all defined reset conditions --- .../ekf_att_pos_estimator_main.cpp | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 70c1cddb5f..501b7cc1b5 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -997,6 +997,20 @@ FixedwingEstimator::task_main() mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); break; } + case 5: + { + const char* str = "diverged too far from GPS"; + warnx("%s", str); + mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); + break; + } + case 6: + { + const char* str = "excessive covariances"; + warnx("%s", str); + mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); + break; + } default: {