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EKF: print to console when starting EV fusion

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Paul Riseborough
2016-05-14 21:17:29 +10:00
parent 349c731375
commit f4a0f69f6e
1 changed files with 2 additions and 0 deletions
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EKF/control.cpp
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@@ -62,6 +62,7 @@ void Ekf::controlFusionModes()
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) { if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// turn on use of external vision measurements for position and height // turn on use of external vision measurements for position and height
_control_status.flags.ev_pos = true; _control_status.flags.ev_pos = true;
printf("EKF switching to external vision position fusion");
// turn off other forms of height aiding // turn off other forms of height aiding
_control_status.flags.baro_hgt = false; _control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false; _control_status.flags.gps_hgt = false;
@@ -97,6 +98,7 @@ void Ekf::controlFusionModes()
// turn on fusion of external vision yaw measurements // turn on fusion of external vision yaw measurements
_control_status.flags.ev_yaw = true; _control_status.flags.ev_yaw = true;
printf("EKF switching to external vision yaw fusion");
} }
} }