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sensors: throttle mavlink emergency log messages

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- in rare situations sending these messages multiple times in close succession can actually cause a loop of additional sensor timeouts
This commit is contained in:
Daniel Agar
2020-06-01 11:25:12 -04:00
committed by GitHub
parent 51a36f0b61
commit b139f48fef
4 changed files with 30 additions and 16 deletions
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src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
+12 -7
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@@ -252,13 +252,18 @@ void VehicleAirData::Run()
} else {
if (failover_index != -1) {
mavlink_log_emergency(&_mavlink_log_pub, "sensor_baro:#%i failed: %s%s%s%s%s!, reconfiguring priorities",
failover_index,
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TIMEOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ERR CNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
const hrt_abstime now = hrt_absolute_time();
if (now - _last_error_message > 3_s) {
mavlink_log_emergency(&_mavlink_log_pub, "sensor_baro:#%i failed: %s%s%s%s%s!, reconfiguring priorities",
failover_index,
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TIMEOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ERR CNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
_last_error_message = now;
}
// reduce priority of failed sensor to the minimum
_priority[failover_index] = ORB_PRIO_MIN;
src/modules/sensors/vehicle_air_data/VehicleAirData.hpp
+1
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@@ -87,6 +87,7 @@ private:
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
hrt_abstime _last_error_message{0};
orb_advert_t _mavlink_log_pub{nullptr};
DataValidatorGroup _voter{1};
src/modules/sensors/voted_sensors_update.cpp
+16 -9
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@@ -50,6 +50,7 @@
using namespace sensors;
using namespace matrix;
using namespace time_literals;
using math::radians;
VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_enabled,
@@ -615,20 +616,26 @@ bool VotedSensorsUpdate::checkFailover(SensorData &sensor, const char *sensor_na
if (flags == DataValidator::ERROR_FLAG_NO_ERROR) {
if (failover_index != -1) {
//we switched due to a non-critical reason. No need to panic.
// we switched due to a non-critical reason. No need to panic.
PX4_INFO("%s sensor switch from #%i", sensor_name, failover_index);
}
} else {
if (failover_index != -1) {
mavlink_log_emergency(&_mavlink_log_pub, "%s #%i fail: %s%s%s%s%s!",
sensor_name,
failover_index,
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TIMEOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ERR CNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
const hrt_abstime now = hrt_absolute_time();
if (now - _last_error_message > 3_s) {
mavlink_log_emergency(&_mavlink_log_pub, "%s #%i fail: %s%s%s%s%s!",
sensor_name,
failover_index,
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TIMEOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ERR CNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
_last_error_message = now;
}
// reduce priority of failed sensor to the minimum
sensor.priority[failover_index] = ORB_PRIO_MIN;
src/modules/sensors/voted_sensors_update.h
+1
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@@ -185,6 +185,7 @@ private:
SensorData _gyro{ORB_ID::sensor_gyro};
SensorData _mag{ORB_ID::sensor_mag};
hrt_abstime _last_error_message{0};
orb_advert_t _mavlink_log_pub{nullptr};
uORB::Publication<sensor_selection_s> _sensor_selection_pub{ORB_ID(sensor_selection)}; /**< handle to the sensor selection uORB topic */