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FD: add dedicated topic to log more internal states

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log imbalanced propeller check metric

add failure_detector_status message
This commit is contained in:
bresch
2021-11-05 09:45:52 -04:00
committed by Daniel Agar
parent b8ed457371
commit 3f1025fb1e
5 changed files with 28 additions and 1 deletions
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src/modules/commander/Commander.cpp
+8 -1
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@@ -2776,7 +2776,7 @@ Commander::run()
_failsafe_old = _status.failsafe;
}
/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 2 Hz or immediately when changed */
/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags, failure_detector_status) at 2 Hz or immediately when changed */
if (hrt_elapsed_time(&_status.timestamp) >= 500_ms || _status_changed || nav_state_changed) {
update_control_mode();
@@ -2839,6 +2839,13 @@ Commander::run()
/* publish vehicle_status_flags */
_status_flags.timestamp = hrt_absolute_time();
_vehicle_status_flags_pub.publish(_status_flags);
/* publish failure_detector data */
failure_detector_status_s fd_status{};
fd_status.timestamp = hrt_absolute_time();
fd_status.failure_status = _failure_detector.getStatus();
fd_status.imbalanced_prop_metric = _failure_detector.getImbalancedPropMetric();
_failure_detector_status_pub.publish(fd_status);
}
/* play arming and battery warning tunes */
src/modules/commander/Commander.hpp
+2
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@@ -49,6 +49,7 @@
// publications
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/failure_detector_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/test_motor.h>
@@ -433,6 +434,7 @@ private:
// Publications
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
uORB::Publication<failure_detector_status_s> _failure_detector_status_pub{ORB_ID(failure_detector_status)};
uORB::Publication<test_motor_s> _test_motor_pub{ORB_ID(test_motor)};
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
src/modules/logger/logged_topics.cpp
+1
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@@ -60,6 +60,7 @@ void LoggedTopics::add_default_topics()
add_topic("commander_state");
add_topic("cpuload");
add_topic("esc_status", 250);
add_topic("failure_detector_status", 100);
add_topic("follow_target", 500);
add_topic("generator_status");
add_topic("heater_status");