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commander: check if baro is healthy

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Thomas Gubler
2014-08-24 13:44:43 +02:00
parent ae7c993936
commit c0975af375
2 changed files with 21 additions and 0 deletions
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src/modules/commander/commander.cpp
+19
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@@ -1081,6 +1081,25 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
/* Check if the barometer is healthy and issue a warning in the GCS if not so.
* Because the barometer is used for calculating AMSL altitude which is used to ensure
* vertical separation from other airtraffic the operator has to know when the
* barometer is inoperational.
* */
if (hrt_elapsed_time(&sensors.baro_timestamp) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where baro was regained */
if (status.barometer_failure) {
status.barometer_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "baro healthy");
}
} else {
if (!status.barometer_failure) {
status.barometer_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "baro failed");
}
}
}
orb_check(diff_pres_sub, &updated);