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AP_UAVCAN: add option bit for disabling Node Unhealthy check

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bugobliterator 2022-07-25 09:00:50 +05:30 committed by Andrew Tridgell
parent 3c87062f27
commit 4852ac332d
3 changed files with 9 additions and 3 deletions
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2
libraries/AP_UAVCAN/AP_UAVCAN.cpp
View File

@ -122,7 +122,7 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
// @Param: OPTION
// @DisplayName: UAVCAN options
// @Description: Option flags
// @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd
// @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy
// @User: Advanced
AP_GROUPINFO("OPTION", 5, AP_UAVCAN, _options, 0),

1
libraries/AP_UAVCAN/AP_UAVCAN.h
View File

@ -202,6 +202,7 @@ public:
DNA_CLEAR_DATABASE = (1U<<0),
DNA_IGNORE_DUPLICATE_NODE = (1U<<1),
CANFD_ENABLED = (1U<<2),
DNA_IGNORE_UNHEALTHY_NODE = (1U<<3),
};
// check if a option is set

9
libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
View File

@ -475,8 +475,9 @@ void AP_UAVCAN_DNA_Server::handleNodeStatus(uint8_t node_id, const NodeStatusCb
if (node_id > MAX_NODE_ID) {
return;
}
if (cb.msg->health != uavcan::protocol::NodeStatus::HEALTH_OK ||
cb.msg->mode != uavcan::protocol::NodeStatus::MODE_OPERATIONAL) {
if ((cb.msg->health != uavcan::protocol::NodeStatus::HEALTH_OK ||
cb.msg->mode != uavcan::protocol::NodeStatus::MODE_OPERATIONAL) &&
!_ap_uavcan->option_is_set(AP_UAVCAN::Options::DNA_IGNORE_UNHEALTHY_NODE)) {
//if node is not healthy or operational, clear resp health mask, and set fault_node_id
fault_node_id = node_id;
server_state = NODE_STATUS_UNHEALTHY;
@ -714,6 +715,10 @@ bool AP_UAVCAN_DNA_Server::prearm_check(char* fail_msg, uint8_t fail_msg_len) co
return false;
}
case NODE_STATUS_UNHEALTHY: {
if (_ap_uavcan->option_is_set(AP_UAVCAN::Options::DNA_IGNORE_UNHEALTHY_NODE)) {
// ignore error
return true;
}
snprintf(fail_msg, fail_msg_len, "Node %d unhealthy!", fault_node_id);
return false;
}