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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
2021-04-23 11:52:28 +02:00
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 */