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ekf2: don't print distance_sensor selection unless there are multiple options

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This commit is contained in:
Daniel Agar
2021-07-19 10:34:37 -04:00
parent 1a222bf06e
commit 10f4fc7783
1 changed files with 6 additions and 1 deletions
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src/modules/ekf2/EKF2.cpp
+6 -1
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@@ -1608,7 +1608,12 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps)
&& (distance_sensor.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING)) { && (distance_sensor.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING)) {
if (_distance_sensor_sub.ChangeInstance(i)) { if (_distance_sensor_sub.ChangeInstance(i)) {
PX4_INFO("%d - selected distance_sensor:%d", _instance, i); int ndist = orb_group_count(ORB_ID(distance_sensor));
if (ndist > 1) {
PX4_INFO("%d - selected distance_sensor:%d (%d advertised)", _instance, i, ndist);
}
_distance_sensor_selected = true; _distance_sensor_selected = true;
break; break;
} }