AP_GPS: improve reporting of offset vs reported-distance inaccuracy

ArduPilot · Feb 26, 2024 · cb2f764 · cb2f764
1 parent f673617
commit cb2f764
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
@@ -369,8 +369,8 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
 
         if ((offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
             // the magnitude of the vector is much further then we were expecting
-            Debug("Exceeded the permitted error margin %f > %f",
-                  (double)(offset_dist - reported_distance), (double)(min_dist * permitted_error_length_pct));
+            Debug("Offset=%.2f vs reported-distance=%.2f (max-delta=%.2f)",
+                  offset_dist, reported_distance, (double)(min_dist * permitted_error_length_pct));
             goto bad_yaw;
         }