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sensors reduce priority of a failed sensor

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This commit is contained in:
Daniel Agar
2017-10-26 15:37:59 -04:00
committed by Lorenz Meier
parent e5ead354f0
commit 2a1ecaa13e
1 changed files with 7 additions and 2 deletions
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src/modules/sensors/voted_sensors_update.cpp
+7 -2
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@@ -920,14 +920,19 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
}
} else {
int failover_index = sensor.voter.failover_index();
mavlink_log_emergency(&_mavlink_log_pub, "%s #%i fail: %s%s%s%s%s!",
sensor_name,
sensor.voter.failover_index(),
failover_index,
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""));
// reduce priority of failed sensor to the minimum
sensor.priority[failover_index] = 1;
}
sensor.last_failover_count = sensor.voter.failover_count();
@@ -1258,4 +1263,4 @@ void VotedSensorsUpdate::calc_mag_inconsistency(sensor_preflight_s &preflt)
// get the vector length of the largest difference and write to the combined sensor struct
preflt.mag_inconsistency_ga = sqrtf(mag_diff_sum_max_sq);
}
}
}