From 541212d4070af5427a019cba1700c53678b8d4cd Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 22 Feb 2024 14:41:27 +1100 Subject: [PATCH] AP_GPS: improve reporting of offset vs reported-distance inaccuracy --- libraries/AP_GPS/GPS_Backend.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp index 8147be24492cb..0af1b4ea479f9 100644 --- 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; }