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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;