Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-20 14:54:09 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: tidy alert sending

Browse Source
This commit is contained in:
Peter Barker 2025-01-02 10:16:39 +11:00 committed by Andrew Tridgell
parent 95f4b326a4
commit 2d57944280
1 changed files with 20 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
View File

@ -111,23 +111,26 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
#if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_, const uint8_t _malfunction_alert_prev_)
{
// _malfunction_alert_ _malfunction_alert_prev_
// 0 0 : not message
// 1 0 : message
// 0 1 : not message
// 1 1 : not message
const uint8_t alert = _malfunction_alert_ & (_malfunction_alert_ ^ _malfunction_alert_prev_);
if (alert & static_cast<uint8_t>(MalfunctionAlert::Temperature)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Temperature alert");
}
if (alert & static_cast<uint8_t>(MalfunctionAlert::Voltage)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Voltage alert");
}
if (alert & static_cast<uint8_t>(MalfunctionAlert::IFSignalSaturation)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: IF signal saturation alert");
}
if (alert & static_cast<uint8_t>(MalfunctionAlert::AltitudeReading)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Altitude reading overflow alert");
static const struct {
MalfunctionAlert bit;
const char *name;
} alerts[] {
{ MalfunctionAlert::Temperature, "Temperature" },
{ MalfunctionAlert::Voltage, "Voltage" },
{ MalfunctionAlert::IFSignalSaturation, "IF signal saturation" },
{ MalfunctionAlert::AltitudeReading, "Attitude reading overflow" },
};
for (const auto &alert : alerts) {
if ((_malfunction_alert_ & uint8_t(alert.bit)) == 0) {
// alert not current
continue;
}
if ((_malfunction_alert_prev_ & uint8_t(alert.bit)) != 0) {
// alert is not new
continue;
}
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: %s alert", alert.name);
}
}
#endif // AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS