fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 15:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors delete disabled ATT_VIBE_THRESH (#8372)

Browse Source
This commit is contained in:
Daniel Agar
2017-11-26 17:25:45 -05:00
committed by GitHub
parent 1d1da12859
commit ed7f333fe8
6 changed files with 0 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/voted_sensors_update.cpp
-28
View File
@@ -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)
{