Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: set force disarmed logging for all the nasty disarm reasons

This commit is contained in:
Iampete1 2021-09-03 19:00:45 +01:00 committed by Andrew Tridgell
parent 38cdc00137
commit 1e5b9e487b
2 changed files with 53 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
libraries/AP_Arming/AP_Arming.cpp
View File

@ -1339,6 +1339,8 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
Log_Write_Disarm(method); // should be able to pass through force here? Log_Write_Disarm(method); // should be able to pass through force here?
check_forced_logging(method);
#if HAL_HAVE_SAFETY_SWITCH #if HAL_HAVE_SAFETY_SWITCH
AP_BoardConfig *board_cfg = AP_BoardConfig::get_singleton(); AP_BoardConfig *board_cfg = AP_BoardConfig::get_singleton();
if ((board_cfg != nullptr) && if ((board_cfg != nullptr) &&
@ -1478,6 +1480,54 @@ void AP_Arming::Log_Write_Disarm(const AP_Arming::Method method)
AP::logger().Write_Event(LogEvent::DISARMED); AP::logger().Write_Event(LogEvent::DISARMED);
} }
// check if we should keep logging after disarming
void AP_Arming::check_forced_logging(const AP_Arming::Method method)
{
// keep logging if disarmed for a bad reason
switch(method) {
case Method::TERMINATION:
case Method::CPUFAILSAFE:
case Method::BATTERYFAILSAFE:
case Method::AFS:
case Method::ADSBCOLLISIONACTION:
case Method::PARACHUTE_RELEASE:
case Method::CRASH:
case Method::FENCEBREACH:
case Method::RADIOFAILSAFE:
case Method::GCSFAILSAFE:
case Method::TERRRAINFAILSAFE:
case Method::FAILSAFE_ACTION_TERMINATE:
case Method::TERRAINFAILSAFE:
case Method::BADFLOWOFCONTROL:
case Method::EKFFAILSAFE:
case Method::GCS_FAILSAFE_SURFACEFAILED:
case Method::GCS_FAILSAFE_HOLDFAILED:
case Method::PILOT_INPUT_FAILSAFE:
// keep logging for longger if disarmed for a bad reason
AP::logger().set_long_log_persist(true);
return;
case Method::RUDDER:
case Method::MAVLINK:
case Method::AUXSWITCH:
case Method::MOTORTEST:
case Method::SCRIPTING:
case Method::SOLOPAUSEWHENLANDED:
case Method::LANDED:
case Method::MISSIONEXIT:
case Method::DISARMDELAY:
case Method::MOTORDETECTDONE:
case Method::TAKEOFFTIMEOUT:
case Method::AUTOLANDED:
case Method::TOYMODELANDTHROTTLE:
case Method::TOYMODELANDFORCE:
case Method::LANDING:
case Method::UNKNOWN:
AP::logger().set_long_log_persist(false);
return;
};
}
AP_Arming *AP_Arming::_singleton = nullptr; AP_Arming *AP_Arming::_singleton = nullptr;
/* /*

3
libraries/AP_Arming/AP_Arming.h
View File

@ -211,6 +211,9 @@ private:
bool ins_accels_consistent(const AP_InertialSensor &ins); bool ins_accels_consistent(const AP_InertialSensor &ins);
bool ins_gyros_consistent(const AP_InertialSensor &ins); bool ins_gyros_consistent(const AP_InertialSensor &ins);
// check if we should keep logging after disarming
void check_forced_logging(const AP_Arming::Method method);
enum MIS_ITEM_CHECK { enum MIS_ITEM_CHECK {
MIS_ITEM_CHECK_LAND = (1 << 0), MIS_ITEM_CHECK_LAND = (1 << 0),
MIS_ITEM_CHECK_VTOL_LAND = (1 << 1), MIS_ITEM_CHECK_VTOL_LAND = (1 << 1),