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AP_Frsky_Telem: fixed usage of sensor error bits

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using these asyncronously via pointers is error prone as the updates
to these masks is not atomic relative to the IO callback in
AP_Frsky_Telem
This commit is contained in:
Andrew Tridgell 2016-08-10 09:14:28 +10:00
parent f4d59d720a
commit 185ef73684
2 changed files with 20 additions and 19 deletions
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26
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -49,7 +49,7 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, con
* init - perform required initialisation * init - perform required initialisation
* for Copter * for Copter
*/ */
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, uint32_t *control_sensors_present, uint32_t *control_sensors_enabled, uint32_t *control_sensors_health, int32_t *home_distance, int32_t *home_bearing) void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, int32_t *home_distance, int32_t *home_bearing)
{ {
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports) // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) { if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
@ -69,9 +69,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
_ap.value = ap_value; // ap bit-field _ap.value = ap_value; // ap bit-field
_ap.control_sensors_present = control_sensors_present;
_ap.control_sensors_enabled = control_sensors_enabled;
_ap.control_sensors_health = control_sensors_health;
_ap.home_distance = home_distance; _ap.home_distance = home_distance;
_ap.home_bearing = home_bearing; _ap.home_bearing = home_bearing;
} }
@ -511,36 +508,35 @@ void AP_Frsky_Telem::control_sensors_check(void)
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if ((now - _control_sensors_timer) > 5000) { // prevent repeating any system_status messages unless 5 seconds have passed if ((now - _control_sensors_timer) > 5000) { // prevent repeating any system_status messages unless 5 seconds have passed
uint32_t _control_sensors_flags = (*_ap.control_sensors_health ^ *_ap.control_sensors_enabled) & *_ap.control_sensors_present;
// only one error is reported at a time (in order of preference). Same setup and displayed messages as Mission Planner. // only one error is reported at a time (in order of preference). Same setup and displayed messages as Mission Planner.
if ((_control_sensors_flags & MAV_SYS_STATUS_SENSOR_GPS) > 0) { if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_SENSOR_GPS) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad GPS Health"); queue_message(MAV_SEVERITY_CRITICAL, "Bad GPS Health");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_SENSOR_3D_GYRO) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_SENSOR_3D_GYRO) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Gyro Health"); queue_message(MAV_SEVERITY_CRITICAL, "Bad Gyro Health");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_SENSOR_3D_ACCEL) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_SENSOR_3D_ACCEL) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Accel Health"); queue_message(MAV_SEVERITY_CRITICAL, "Bad Accel Health");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_SENSOR_3D_MAG) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_SENSOR_3D_MAG) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Compass Health"); queue_message(MAV_SEVERITY_CRITICAL, "Bad Compass Health");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad Baro Health"); queue_message(MAV_SEVERITY_CRITICAL, "Bad Baro Health");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_SENSOR_LASER_POSITION) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_SENSOR_LASER_POSITION) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad LiDAR Health"); queue_message(MAV_SEVERITY_CRITICAL, "Bad LiDAR Health");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad OptFlow Health"); queue_message(MAV_SEVERITY_CRITICAL, "Bad OptFlow Health");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_TERRAIN) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_TERRAIN) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad or No Terrain Data"); queue_message(MAV_SEVERITY_CRITICAL, "Bad or No Terrain Data");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_GEOFENCE) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_GEOFENCE) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Geofence Breach"); queue_message(MAV_SEVERITY_CRITICAL, "Geofence Breach");
_control_sensors_timer = now; _control_sensors_timer = now;
} else if ((_control_sensors_flags & MAV_SYS_STATUS_AHRS) > 0) { } else if ((_ap.sensor_status_error_flags & MAV_SYS_STATUS_AHRS) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad AHRS"); queue_message(MAV_SEVERITY_CRITICAL, "Bad AHRS");
_control_sensors_timer = now; _control_sensors_timer = now;
} }

13
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -117,12 +117,19 @@ public:
AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, const RangeFinder &rng); AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, const RangeFinder &rng);
// init - perform required initialisation // init - perform required initialisation
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, uint32_t *control_sensors_present, uint32_t *control_sensors_enabled, uint32_t *control_sensors_health, int32_t *home_distance, int32_t *home_bearing); void init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, int32_t *home_distance, int32_t *home_bearing);
void init(const AP_SerialManager &serial_manager); void init(const AP_SerialManager &serial_manager);
// add statustext message to FrSky lib queue. This function is static so it can be called from any library. // add statustext message to FrSky lib queue. This function is static so it can be called from any library.
static void queue_message(MAV_SEVERITY severity, const char *text); static void queue_message(MAV_SEVERITY severity, const char *text);
// update flight control mode. The control mode is vehicle type specific
void update_control_mode(uint8_t mode) { _ap.control_mode = mode; } void update_control_mode(uint8_t mode) { _ap.control_mode = mode; }
// update error mask of sensors and subsystems. The mask uses the
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not
// functioning correctly
void update_sensor_status_flags(uint32_t error_mask) { _ap.sensor_status_error_flags = error_mask; }
struct msg_t struct msg_t
{ {
@ -151,9 +158,7 @@ private:
{ {
uint8_t control_mode; uint8_t control_mode;
uint32_t *value; uint32_t *value;
uint32_t *control_sensors_present; uint32_t sensor_status_error_flags;
uint32_t *control_sensors_enabled;
uint32_t *control_sensors_health;
int32_t *home_distance; int32_t *home_distance;
int32_t *home_bearing; int32_t *home_bearing;
} _ap; } _ap;