From a8cc2f9ef61cdea27bf87527ccbe8c87bd680a9b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 9 Sep 2021 22:02:45 +0200 Subject: [PATCH] vehicle_imu: switch to events --- src/modules/sensors/vehicle_imu/VehicleIMU.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index 37522f5697..bf2862c267 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -34,6 +34,7 @@ #include "VehicleIMU.hpp" #include +#include #include #include @@ -349,7 +350,13 @@ bool VehicleIMU::UpdateAccel() const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2]; if (clipping_total > _last_clipping_notify_total_count + 1000) { - mavlink_log_critical(&_mavlink_log_pub, "Accel %" PRIu8 " clipping, not safe to fly!", _instance); + mavlink_log_critical(&_mavlink_log_pub, "Accel %" PRIu8 " clipping, not safe to fly!\t", _instance); + /* EVENT + * @description Land now, and check the vehicle setup. + * Clipping can lead to fly-aways. + */ + events::send(events::ID("vehicle_imu_accel_clipping"), events::Log::Critical, + "Accel {1} clipping, not safe to fly!", _instance); _last_clipping_notify_time = accel.timestamp_sample; _last_clipping_notify_total_count = clipping_total; }