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Subsystem_info status flags & checks: Separate the functionality to a) set the health flags inside commander and b) to publish them from external modules

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This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent a807d34a7a
commit e4d863b95f
13 changed files with 148 additions and 223 deletions
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src/modules/sensors/CMakeLists.txt
+1 -1
View File
@@ -51,5 +51,5 @@ px4_add_module(
drivers__device
git_ecl
ecl_validation
subsystem_info_pub
health_flags
)
src/modules/sensors/voted_sensors_update.cpp
+19 -36
View File
@@ -40,7 +40,6 @@
#include "voted_sensors_update.h"
#include <systemlib/mavlink_log.h>
#include <lib/subsystem_info_pub/subsystem_info_pub.h>
#include <conversion/rotation.h>
#include <ecl/geo/geo.h>
@@ -60,8 +59,9 @@ VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_en
memset(&_gyro_diff, 0, sizeof(_gyro_diff));
memset(&_mag_diff, 0, sizeof(_mag_diff));
// initialise the corrections
// initialise the publication variables
memset(&_corrections, 0, sizeof(_corrections));
memset(&_info, 0, sizeof(_info));
for (unsigned i = 0; i < 3; i++) {
_corrections.gyro_scale_0[i] = 1.0f;
@@ -932,26 +932,33 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
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
uint64_t subsystem_type = 0;
if (ctr_valid == 0) { // There are no valid sensors left!
if (strcmp(sensor_name, "Gyro") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO; }
if (strcmp(sensor_name, "Gyro") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO; }
if (strcmp(sensor_name, "Accel") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC; }
if (strcmp(sensor_name, "Accel") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC; }
if (strcmp(sensor_name, "Mag") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG; }
if (strcmp(sensor_name, "Mag") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG; }
if (strcmp(sensor_name, "Baro") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE; }
if (strcmp(sensor_name, "Baro") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE; }
} else if (ctr_valid == 1) { // A single valid sensor remains, set secondary sensor health to false
if (strcmp(sensor_name, "Gyro") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO2; }
if (strcmp(sensor_name, "Gyro") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO2; }
if (strcmp(sensor_name, "Accel") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC2; }
if (strcmp(sensor_name, "Accel") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC2; }
if (strcmp(sensor_name, "Mag") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG2; }
if (strcmp(sensor_name, "Mag") == 0) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG2; }
}
publish_subsystem_info_healthy(subsystem_type, false);
_info.present = true;
_info.enabled = true;
_info.ok = false;
if (_info_pub == nullptr) {
_info_pub = orb_advertise_queue(ORB_ID(subsystem_info), &_info, subsystem_info_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(subsystem_info), _info_pub, &_info);
}
}
}
}
@@ -983,30 +990,6 @@ void VotedSensorsUpdate::init_sensor_class(const struct orb_metadata *meta, Sens
PX4_ERR("failed to add validator for sensor %s %i", meta->o_name, i);
}
}
// Update the subsystem_info uORB to indicate the amount of valid sensors
if (i < 2) { // subsystem_info only contains flags for the first two sensors
uint64_t subsystem_type = 0;
if (i == 0) { // First sensor valid
if (strcmp(meta->o_name, "sensor_gyro") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO; }
if (strcmp(meta->o_name, "sensor_accel") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC; }
if (strcmp(meta->o_name, "sensor_mag") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG; }
if (strcmp(meta->o_name, "sensor_baro") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE; }
} else if (i == 1) { // We also have a second sensor
if (strcmp(meta->o_name, "sensor_gyro") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO2; }
if (strcmp(meta->o_name, "sensor_accel") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC2; }
if (strcmp(meta->o_name, "sensor_mag") == 0) { subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG2; }
}
publish_subsystem_info(subsystem_type, true, true, true);
}
}
}
src/modules/sensors/voted_sensors_update.h
+4
View File
@@ -273,6 +273,10 @@ private:
orb_advert_t _sensor_selection_pub = nullptr; /**< handle to the sensor selection uORB topic */
bool _selection_changed = false; /**< true when a sensor selection has changed and not been published */
/* subsystem info publication */
struct subsystem_info_s _info;
orb_advert_t _info_pub = nullptr;
uint32_t _accel_device_id[SENSOR_COUNT_MAX] = {}; /**< accel driver device id for each uorb instance */
uint32_t _baro_device_id[SENSOR_COUNT_MAX] = {};
uint32_t _gyro_device_id[SENSOR_COUNT_MAX] = {};