diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 9 |
1 files changed, 6 insertions, 3 deletions
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 685f5e12f..e7805daa9 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 @@ -613,8 +613,11 @@ FixedwingEstimator::check_filter_state() warn_index = max_warn_index; } - warnx("reset: %s", feedback[warn_index]); - mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]); + // Do not warn about accel offset if we have no position updates + if (!(warn_index == 5 && _ekf->staticMode)) { + warnx("reset: %s", feedback[warn_index]); + mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]); + } } struct estimator_status_report rep; @@ -1557,7 +1560,7 @@ FixedwingEstimator::start() _estimator_task = task_spawn_cmd("ekf_att_pos_estimator", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 5000, + 7500, (main_t)&FixedwingEstimator::task_main_trampoline, nullptr); |