From f4a0f69f6e90fbb998da1ad48fa62385a69689c7 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 21 Apr 2016 09:02:08 +1000
Subject: [PATCH] EKF: print to console when starting EV fusion

---
 EKF/control.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index d49b2d3bdc..2a63cb6b8b 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -62,6 +62,7 @@ void Ekf::controlFusionModes()
 		if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
 			// turn on use of external vision measurements for position and height
 			_control_status.flags.ev_pos = true;
+			printf("EKF switching to external vision position fusion");
 			// turn off other forms of height aiding
 			_control_status.flags.baro_hgt = false;
 			_control_status.flags.gps_hgt = false;
@@ -97,6 +98,7 @@ void Ekf::controlFusionModes()
 
 			// turn on fusion of external vision yaw measurements
 			_control_status.flags.ev_yaw = true;
+			printf("EKF switching to external vision yaw fusion");
 		}
 	}