From 970e5f829be223433d2b74a8317ae88108861143 Mon Sep 17 00:00:00 2001 From: Hwurzburg Date: Tue, 4 Jan 2022 15:31:32 -0600 Subject: [PATCH] AP_NavEKF3: remove user unintelligible GCS message --- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 16e4a1ed13..a465019217 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -99,8 +99,10 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index) // calculate buffer size for optical flow data const uint8_t flow_buffer_length = MIN((ekf_delay_ms / frontend->flowIntervalMin_ms) + 1, imu_buffer_length); +#if EK3_FEATURE_EXTERNAL_NAV // calculate buffer size for external nav data const uint8_t extnav_buffer_length = MIN((ekf_delay_ms / frontend->extNavIntervalMin_ms) + 1, imu_buffer_length); +#endif // EK3_FEATURE_EXTERNAL_NAV if(!storedGPS.init(obs_buffer_length)) { return false; @@ -159,15 +161,7 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index) return false; } #endif - - GCS_SEND_TEXT(MAV_SEVERITY_INFO, "EKF3 IMU%u buffs IMU=%u OBS=%u OF=%u EN:%u dt=%.4f", - (unsigned)imu_index, - (unsigned)imu_buffer_length, - (unsigned)obs_buffer_length, - (unsigned)flow_buffer_length, - (unsigned)extnav_buffer_length, - (double)dtEkfAvg); - + if ((yawEstimator == nullptr) && (frontend->_gsfRunMask & (1U<