fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 07:31:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: throttle mavlink emergency log messages

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/voted_sensors_update.cpp
+16 -9
View File
@@ -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;