fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 05:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Subsystem_info status flags & checks: Code style fixes and cleanup to avoid strcmp() as suggested by @LorenzMeier

Browse Source
This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent e4d863b95f
commit bd2af289f5
3 changed files with 21 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/PreflightCheck.cpp
+6 -6
View File
@@ -163,8 +163,8 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
} }
out: out:
if(instance==0) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG, present, !optional, success, status); if (instance==0) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG, present, !optional, success, status);
if(instance==1) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG2, present, !optional, success, status); if (instance==1) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG2, present, !optional, success, status);
DevMgr::releaseHandle(h); DevMgr::releaseHandle(h);
return success; return success;
@@ -336,8 +336,8 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
#endif #endif
out: out:
if(instance==0) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC, present, !optional, success, status); if (instance==0) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC, present, !optional, success, status);
if(instance==1) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, present, !optional, success, status); if (instance==1) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, present, !optional, success, status);
DevMgr::releaseHandle(h); DevMgr::releaseHandle(h);
return success; return success;
@@ -388,8 +388,8 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
} }
out: out:
if(instance==0) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, present, !optional, success, status); if (instance==0) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, present, !optional, success, status);
if(instance==1) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, present, !optional, success, status); if (instance==1) set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, present, !optional, success, status);
DevMgr::releaseHandle(h); DevMgr::releaseHandle(h);
return success; return success;
src/modules/sensors/voted_sensors_update.cpp
+14 -18
View File
@@ -893,7 +893,7 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
} }
} }
bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_name) bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_name, const uint64_t type)
{ {
if (sensor.last_failover_count != sensor.voter.failover_count()) { if (sensor.last_failover_count != sensor.voter.failover_count()) {
@@ -931,22 +931,18 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
PX4_ERR("%s sensor switch from #%i", sensor_name, failover_index); PX4_ERR("%s sensor switch from #%i", sensor_name, failover_index);
if (ctr_valid < 2) { // subsystem_info only contains flags for the first two sensors if (ctr_valid < 2) {
if (ctr_valid == 0) { // There are no valid sensors left! if (ctr_valid == 0) {
if (strcmp(sensor_name, "Gyro") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO; } // Zero valid sensors remain! Set even the primary sensor health to false
_info.subsystem_type = type;
if (strcmp(sensor_name, "Accel") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC; } } else if (ctr_valid == 1) {
// One valid sensor remains, set secondary sensor health to false
if (type == subsystem_info_s::SUBSYSTEM_TYPE_GYRO) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO2; }
if (strcmp(sensor_name, "Mag") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG; } if (type == subsystem_info_s::SUBSYSTEM_TYPE_ACC) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC2; }
if (strcmp(sensor_name, "Baro") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE; } if (type == subsystem_info_s::SUBSYSTEM_TYPE_MAG) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG2; }
} else if (ctr_valid == 1) { // A single valid sensor remains, set secondary sensor health to false
if (strcmp(sensor_name, "Gyro") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO2; }
if (strcmp(sensor_name, "Accel") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC2; }
if (strcmp(sensor_name, "Mag") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG2; }
} }
_info.present = true; _info.present = true;
@@ -1095,10 +1091,10 @@ void VotedSensorsUpdate::sensors_poll(sensor_combined_s &raw, vehicle_air_data_s
void VotedSensorsUpdate::check_failover() void VotedSensorsUpdate::check_failover()
{ {
check_failover(_accel, "Accel"); check_failover(_accel, "Accel", subsystem_info_s::SUBSYSTEM_TYPE_ACC);
check_failover(_gyro, "Gyro"); check_failover(_gyro, "Gyro", subsystem_info_s::SUBSYSTEM_TYPE_GYRO);
check_failover(_mag, "Mag"); check_failover(_mag, "Mag", subsystem_info_s::SUBSYSTEM_TYPE_MAG);
check_failover(_baro, "Baro"); check_failover(_baro, "Baro", subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE);
} }
void VotedSensorsUpdate::set_relative_timestamps(sensor_combined_s &raw) void VotedSensorsUpdate::set_relative_timestamps(sensor_combined_s &raw)
src/modules/sensors/voted_sensors_update.h
+1 -1
View File
@@ -206,7 +206,7 @@ private:
* Check & handle failover of a sensor * Check & handle failover of a sensor
* @return true if a switch occured (could be for a non-critical reason) * @return true if a switch occured (could be for a non-critical reason)
*/ */
bool check_failover(SensorData &sensor, const char *sensor_name); bool check_failover(SensorData &sensor, const char *sensor_name, const uint64_t type);
/** /**
* Apply a gyro calibration. * Apply a gyro calibration.