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AP_Rangefinder: added a rate-limited and a compile-out option for the error reporting

This commit is contained in:
Tom Pittenger 2024-03-15 15:00:58 -07:00 committed by Tom Pittenger
parent 5393af5ce4
commit 50fe9e915f
2 changed files with 13 additions and 2 deletions
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14
libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
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@ -17,6 +17,10 @@
#if AP_RANGEFINDER_AINSTEIN_LR_D1_ENABLED #if AP_RANGEFINDER_AINSTEIN_LR_D1_ENABLED
#ifndef AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
#define AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS 1
#endif
#include "AP_RangeFinder_Ainstein_LR_D1.h" #include "AP_RangeFinder_Ainstein_LR_D1.h"
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
@ -69,10 +73,14 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
has_data = true; has_data = true;
if (malfunction_alert_prev != malfunction_alert) { #if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
const uint32_t now_ms = AP_HAL::millis();
if (malfunction_alert_prev != malfunction_alert && now_ms - malfunction_alert_last_send_ms >= 1000) {
malfunction_alert_prev = malfunction_alert; malfunction_alert_prev = malfunction_alert;
malfunction_alert_last_send_ms = now_ms;
report_malfunction(malfunction_alert); report_malfunction(malfunction_alert);
} }
#endif
/* From datasheet: /* From datasheet:
Altitude measurements associated with a SNR value Altitude measurements associated with a SNR value
@ -101,6 +109,7 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
return has_data; return has_data;
} }
#if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_) { void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_) {
if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Temperature)) { if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Temperature)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Temperature alert"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Temperature alert");
@ -115,5 +124,6 @@ void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunctio
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Altitude reading overflow alert"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Altitude reading overflow alert");
} }
} }
#endif // AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
#endif #endif // AP_RANGEFINDER_AINSTEIN_LR_D1_ENABLED

1
libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h
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@ -57,6 +57,7 @@ private:
static constexpr uint8_t PACKET_SIZE = 32; static constexpr uint8_t PACKET_SIZE = 32;
uint8_t malfunction_alert_prev; uint8_t malfunction_alert_prev;
uint32_t malfunction_alert_last_send_ms;
int8_t signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN; int8_t signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN;
}; };
#endif #endif