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[ahrs] int_cmpl_quat: additional checks and error messages

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Felix Ruess
2013-12-17 14:57:35 +01:00
parent 3010e82540
commit 9bef1228da
1 changed files with 8 additions and 1 deletions
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sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+8 -1
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@@ -52,9 +52,16 @@ PRINT_CONFIG_MSG("LOW PASS FILTER ON GYRO RATES")
#endif
#if USE_MAGNETOMETER && AHRS_USE_GPS_HEADING
#warning "Using both magnetometer and GPS course to update heading. Probably better to set USE_MAGNETOMETER=0 if you want to use GPS course."
#warning "Using both magnetometer and GPS course to update heading. Probably better to configure USE_MAGNETOMETER=0 if you want to use GPS course."
#endif
#if !USE_MAGNETOMETER && !AHRS_USE_GPS_HEADING
#error "Please use either USE_MAGNETOMETER or AHRS_USE_GPS_HEADING."
#endif
#if AHRS_USE_GPS_HEADING && !USE_GPS
#error "AHRS_USE_GPS_HEADING needs USE_GPS to be TRUE"
#endif
#ifndef AHRS_PROPAGATE_FREQUENCY
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY