[AttitudeObserver] Give text output for the calibration of the gyro bias

jrl-umi3218 · Aug 17, 2022 · b7ee02f · b7ee02f
1 parent 4f9ba84
commit b7ee02f
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/AttitudeObserver.cpp b/src/AttitudeObserver.cpp
@@ -308,6 +308,8 @@ void AttitudeObserver::setGyroBiasToMeanValue()
   m_gyrobias = m_gyroMeasurementTotal / m_numberOfValues;
   m_gyroBiasFromMeasurement_running = false;
 
+  mc_rtc::log::info("Gyro bias identification finished, value: {} ", m_gyrobias.transpose());
+
   if(withGyroBias_)
   {
     xk_.segment<3>(indexes::gyroBias) = m_gyrobias;
@@ -330,6 +332,8 @@ void AttitudeObserver::startGyroBiasIdentification()
   m_gyroBiasFromMeasurement_running = true;
   m_gyroMeasurementTotal.setZero();
 
+  mc_rtc::log::info("Gyro bias identification started");
+
   m_resetGUI = true;
 }