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AP_Generator: Make unhealthy driver message persist

This commit is contained in:
Gone4Dirt 2021-09-17 20:54:32 +01:00 committed by Peter Barker
parent 9aee98eeb8
commit 30589f9b29
2 changed files with 7 additions and 9 deletions
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12
libraries/AP_Generator/AP_Generator_IE_FuelCell.cpp
View File

@ -28,8 +28,6 @@ void AP_Generator_IE_FuelCell::init()
return;
}
_uart->begin(AP::serialmanager().find_baudrate(AP_SerialManager::SerialProtocol_Generator, 0));
_health_warn_sent = false;
}
// Update fuelcell, expected to be called at 20hz
@ -62,7 +60,7 @@ void AP_Generator_IE_FuelCell::update()
_healthy = (now - _last_time_ms) < HEALTHY_TIMEOUT_MS;
// Check if we should notify gcs off any change of fuel cell state
check_status();
check_status(now);
update_frontend();
@ -144,16 +142,16 @@ const AP_Generator_IE_FuelCell::Lookup_State AP_Generator_IE_FuelCell::lookup_st
};
// Check for any change in error state or status and report to gcs
void AP_Generator_IE_FuelCell::check_status()
void AP_Generator_IE_FuelCell::check_status(const uint32_t now)
{
// Check driver health
if (!healthy() && !_health_warn_sent) {
if (!healthy() && (!_health_warn_last_ms || (now - _health_warn_last_ms >= 20000))) {
// Don't spam GCS with unhealthy message
_health_warn_sent = true;
_health_warn_last_ms = now;
gcs().send_text(MAV_SEVERITY_ALERT, "Generator: Not healthy");
} else if (healthy()) {
_health_warn_sent = false;
_health_warn_last_ms = 0;
}
// If fuel cell state has changed send gcs message

4
libraries/AP_Generator/AP_Generator_IE_FuelCell.h
View File

@ -54,7 +54,7 @@ protected:
State _last_state; // The previous PSU state
uint32_t _last_time_ms; // Time we got a reading
bool _healthy; // Is the driver working
bool _health_warn_sent;
uint32_t _health_warn_last_ms; // Time to persist warning message without spamming
// Temporary state params
struct ParsedValue {
@ -94,7 +94,7 @@ protected:
virtual void decode_latest_term(void) = 0;
// Check if we should notify on any change of fuel cell state
void check_status(void);
void check_status(const uint32_t now);
// Check error codes and populate message with error code
virtual bool check_for_err_code(char* msg_txt, uint8_t msg_len) const = 0;