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AP_Vehicle: log internal error and report bitmask to GCS

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AP_Vehicle.cpp: cast parameter bitmask as (unsigned) per Peter B.

rework per Peter B.

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
remove unnecessary send_internal_error_statustext function

remove Write_InternalError function
This commit is contained in:
nkruzan 2021-08-28 11:18:07 -05:00 committed by Peter Barker
parent 2be49cb42b
commit 0a236bc13d
3 changed files with 11 additions and 0 deletions
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3
libraries/AP_Logger/AP_Logger.h
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@ -200,6 +200,7 @@ enum class LogErrorSubsystem : uint8_t {
FAILSAFE_LEAK = 27, FAILSAFE_LEAK = 27,
PILOT_INPUT = 28, PILOT_INPUT = 28,
FAILSAFE_VIBE = 29, FAILSAFE_VIBE = 29,
INTERNAL_ERROR = 30,
}; };
// bizarrely this enumeration has lots of duplicate values, offering // bizarrely this enumeration has lots of duplicate values, offering
@ -229,6 +230,8 @@ enum class LogErrorCode : uint8_t {
FAILED_CIRCLE_INIT = 4, FAILED_CIRCLE_INIT = 4,
DEST_OUTSIDE_FENCE = 5, DEST_OUTSIDE_FENCE = 5,
RTL_MISSING_RNGFND = 6, RTL_MISSING_RNGFND = 6,
// subsystem specific error codes -- internal_error
INTERNAL_ERRORS_DETECTED = 1,
// parachute failed to deploy because of low altitude or landed // parachute failed to deploy because of low altitude or landed
PARACHUTE_TOO_LOW = 2, PARACHUTE_TOO_LOW = 2,

6
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -199,6 +199,12 @@ void AP_Vehicle::loop()
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s", banner_msg); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s", banner_msg);
} }
} }
const uint32_t new_internal_errors = AP::internalerror().errors();
if(_last_internal_errors != new_internal_errors) {
AP::logger().Write_Error(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Internal Errors %x", (unsigned)new_internal_errors);
_last_internal_errors = new_internal_errors;
}
} }
/* /*

2
libraries/AP_Vehicle/AP_Vehicle.h
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@ -373,6 +373,8 @@ private:
static AP_Vehicle *_singleton; static AP_Vehicle *_singleton;
bool done_safety_init; bool done_safety_init;
uint32_t _last_internal_errors; // backup of AP_InternalError::internal_errors bitmask
}; };
namespace AP { namespace AP {