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AP_Proximity: Improve get_status handling

This commit is contained in:
rishabsingh3003 2024-03-04 13:54:40 -05:00 committed by Andrew Tridgell
parent baf0da74ed
commit 0efe4351f1
2 changed files with 16 additions and 6 deletions
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20
libraries/AP_Proximity/AP_Proximity.cpp
View File

@ -308,17 +308,19 @@ AP_Proximity::Status AP_Proximity::get_instance_status(uint8_t instance) const
return state[instance].status; return state[instance].status;
} }
// Returns status of first good sensor. If no good sensor found, returns status of last instance sensor
AP_Proximity::Status AP_Proximity::get_status() const AP_Proximity::Status AP_Proximity::get_status() const
{ {
Status sensors_status = Status::NotConnected;
for (uint8_t i=0; i<num_instances; i++) { for (uint8_t i=0; i<num_instances; i++) {
const Status sensors_status = get_instance_status(i); sensors_status = get_instance_status(i);
if (sensors_status != Status::Good) { if (sensors_status == Status::Good) {
// return first bad status // return first good status
return sensors_status; return sensors_status;
} }
} }
// All valid sensors seem to be working // no good sensor found
return Status::Good; return sensors_status;
} }
// return proximity backend for Lua scripting // return proximity backend for Lua scripting
@ -459,7 +461,13 @@ bool AP_Proximity::sensor_enabled() const
bool AP_Proximity::sensor_failed() const bool AP_Proximity::sensor_failed() const
{ {
return get_status() != Status::Good; for (uint8_t i=0; i<num_instances; i++) {
if (get_instance_status(i) != Status::Good) {
// return first bad status
return true;
}
}
return false;
} }
// get distance in meters upwards, returns true on success // get distance in meters upwards, returns true on success

2
libraries/AP_Proximity/AP_Proximity.h
View File

@ -115,6 +115,8 @@ public:
// return sensor health // return sensor health
Status get_instance_status(uint8_t instance) const; Status get_instance_status(uint8_t instance) const;
// Returns status of first good sensor. If no good sensor found, returns status of last instance sensor
Status get_status() const; Status get_status() const;
// prearm checks // prearm checks