AP_Mount: Siyi debug of position sent

rmackay9 · Jul 4, 2024 · cd605e9 · cd605e9
1 parent ab6a516
commit cd605e9
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -65,6 +65,7 @@ void AP_Mount_Siyi::update()
             if (AP::rtc().get_utc_usec(utc_usec) &&
                 send_packet(SiyiCommandId::SET_TIME, (const uint8_t *)&utc_usec, sizeof(utc_usec))) {
                 sent_time_count++;
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Siyi: sent UTC time %llu", (unsigned long long)utc_usec);
             }
         }
 #endif
@@ -1211,6 +1212,8 @@ void AP_Mount_Siyi::send_attitude_position(void)
     position.alt_ellipsoid = position.alt_msl - undulation*100;
 
     send_packet(SiyiCommandId::POSITION_DATA, (const uint8_t *)&position, sizeof(position));
+
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Siyi: lat:%ld lon:%ld alt:%ld", (long)position.lat, (long)position.lon, (long)position.alt_msl);
 }
 
 #endif // HAL_MOUNT_SIYI_ENABLED