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sensors delete disabled ATT_VIBE_THRESH (#8372)

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Daniel Agar 2017-11-26 17:25:45 -05:00 committed by GitHub
parent 1d1da12859
commit ed7f333fe8
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6 changed files with 0 additions and 58 deletions
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4
src/modules/sensors/parameters.cpp
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@ -155,8 +155,6 @@ int initialize_parameter_handles(ParameterHandles &parameter_handles)
/* Barometer QNH */
parameter_handles.baro_qnh = param_find("SENS_BARO_QNH");
parameter_handles.vibe_thresh = param_find("ATT_VIBE_THRESH");
parameter_handles.air_cmodel = param_find("CAL_AIR_CMODEL");
parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
@ -490,8 +488,6 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
param_get(parameter_handles.baro_qnh, &(parameters.baro_qnh));
param_get(parameter_handles.vibe_thresh, &parameters.vibration_warning_threshold);
param_get(parameter_handles.air_cmodel, &parameters.air_cmodel);
param_get(parameter_handles.air_tube_length, &parameters.air_tube_length);
param_get(parameter_handles.air_tube_diameter_mm, &parameters.air_tube_diameter_mm);

4
src/modules/sensors/parameters.h
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@ -144,8 +144,6 @@ struct Parameters {
float baro_qnh;
float vibration_warning_threshold;
int32_t air_cmodel;
float air_tube_length;
float air_tube_diameter_mm;
@ -228,8 +226,6 @@ struct ParameterHandles {
param_t baro_qnh;
param_t vibe_thresh; /**< vibration threshold */
param_t air_cmodel;
param_t air_tube_length;
param_t air_tube_diameter_mm;

10
src/modules/sensors/sensor_params.c
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@ -208,16 +208,6 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
/**
* Threshold (of RMS) to warn about high vibration levels
*
* @group Sensors
* @min 0.01
* @max 10
* @decimal 2
*/
PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
/**
* Lidar-Lite (LL40LS)
*

2
src/modules/sensors/sensors.cpp
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@ -690,8 +690,6 @@ Sensors::run()
orb_publish(ORB_ID(sensor_preflight), _sensor_preflight, &preflt);
}
//_voted_sensors_update.check_vibration(); //disabled for now, as it does not seem to be reliable
}
/* keep adding sensors as long as we are not armed,

28
src/modules/sensors/voted_sensors_update.cpp
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@ -962,34 +962,6 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
return false;
}
bool VotedSensorsUpdate::check_vibration()
{
bool ret = false;
hrt_abstime cur_time = hrt_absolute_time();
if (!_vibration_warning && (_gyro.voter.get_vibration_factor(cur_time) > _parameters.vibration_warning_threshold ||
_accel.voter.get_vibration_factor(cur_time) > _parameters.vibration_warning_threshold ||
_mag.voter.get_vibration_factor(cur_time) > _parameters.vibration_warning_threshold)) {
if (_vibration_warning_timestamp == 0) {
_vibration_warning_timestamp = cur_time;
} else if (hrt_elapsed_time(&_vibration_warning_timestamp) > 10000 * 1000) {
_vibration_warning = true;
mavlink_log_critical(&_mavlink_log_pub, "HIGH VIBRATION! g: %d a: %d m: %d",
(int)(100 * _gyro.voter.get_vibration_factor(cur_time)),
(int)(100 * _accel.voter.get_vibration_factor(cur_time)),
(int)(100 * _mag.voter.get_vibration_factor(cur_time)));
ret = true;
}
} else {
_vibration_warning_timestamp = 0;
}
return ret;
}
void VotedSensorsUpdate::init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data,
uint8_t sensor_count_max)
{

10
src/modules/sensors/voted_sensors_update.h
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@ -122,13 +122,6 @@ public:
*/
void check_failover();
/**
* check vibration levels and output a warning if they're high
* @return true on high vibration
*/
bool check_vibration();
int num_gyros() const { return _gyro.subscription_count; }
int gyro_fd(int idx) const { return _gyro.subscription[idx]; }
@ -260,9 +253,6 @@ private:
uint64_t _last_mag_timestamp[MAG_COUNT_MAX]; /**< latest full timestamp */
uint64_t _last_baro_timestamp[BARO_COUNT_MAX]; /**< latest full timestamp */
hrt_abstime _vibration_warning_timestamp = 0;
bool _vibration_warning = false;
math::Matrix<3, 3> _board_rotation = {}; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _mag_rotation[MAG_COUNT_MAX] = {}; /**< rotation matrix for the orientation that the external mag0 is mounted */