AP_GPS: Report when SBF errors change

7 years ago · b1a3e0a537
1 changed files with 4 additions and 0 deletions
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@ -368,6 +368,10 @@ AP_GPS_SBF::process_message(void)
				@@ -368,6 +368,10 @@ AP_GPS_SBF::process_message(void)
    {
        const msg4014 &temp = sbf_msg.data.msg4014u;
        RxState = temp.RxState;
+        if ((RxError & RX_ERROR_MASK) != (temp.RxError & RX_ERROR_MASK)) {
+            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF error changed (0x%08x/0x%08x)", state.instance + 1,
+                            RxError & RX_ERROR_MASK, temp.RxError & RX_ERROR_MASK);
+        }
        RxError = temp.RxError;
        break;
    }