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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-26 00:50:19 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-26 00:52:33 +0400 |
| commit | eab701b896fa316132aff78a34362ca77549e581 (patch) | |
| tree | 2922d360e45aad948efc06157739d60ece8fab36 /src/modules/uavcan/sensors/gnss.cpp | |
| parent | c786f3ce0786adfbd65f00f321817d8719227ddf (diff) | |
| download | px4-firmware-eab701b896fa316132aff78a34362ca77549e581.tar.gz px4-firmware-eab701b896fa316132aff78a34362ca77549e581.tar.bz2 px4-firmware-eab701b896fa316132aff78a34362ca77549e581.zip | |
Improved UAVCAN status reporting
Diffstat (limited to 'src/modules/uavcan/sensors/gnss.cpp')
| -rw-r--r-- | src/modules/uavcan/sensors/gnss.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index 8548660fe..0d67aad47 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -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. |