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Merge pull request #804 from PX4/laser_error_management

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sf0x driver: Stop emitting error messages once there is no hope this sen...
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Lorenz Meier
2014-04-05 05:41:46 -07:00
parent fa63609da3 be38372be1
commit 40bf02bda0
1 changed files with 10 additions and 2 deletions
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src/drivers/sf0x/sf0x.cpp
+10 -2
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@@ -124,6 +124,8 @@ private:
orb_advert_t _range_finder_topic; orb_advert_t _range_finder_topic;
unsigned _consecutive_fail_count;
perf_counter_t _sample_perf; perf_counter_t _sample_perf;
perf_counter_t _comms_errors; perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows; perf_counter_t _buffer_overflows;
@@ -186,6 +188,7 @@ SF0X::SF0X(const char *port) :
_linebuf_index(0), _linebuf_index(0),
_last_read(0), _last_read(0),
_range_finder_topic(-1), _range_finder_topic(-1),
_consecutive_fail_count(0),
_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")), _sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")),
_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")), _comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows")) _buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows"))
@@ -720,12 +723,17 @@ SF0X::cycle()
if (OK != collect_ret) { if (OK != collect_ret) {
/* we know the sensor needs about four seconds to initialize */ /* we know the sensor needs about four seconds to initialize */
if (hrt_absolute_time() > 5 * 1000 * 1000LL) { if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) {
log("collection error"); log("collection error #%u", _consecutive_fail_count);
} }
_consecutive_fail_count++;
/* restart the measurement state machine */ /* restart the measurement state machine */
start(); start();
return; return;
} else {
/* apparently success */
_consecutive_fail_count = 0;
} }
/* next phase is measurement */ /* next phase is measurement */