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AP_HAL: prevent a single bad transfer causing an IMU to be marked unhealthy 

This is a response to this issue:
https://discuss.ardupilot.org/t/gyro-problem-after-waypoint-log-analisys

The 2nd gyro went bad with a large offset. Then the first gyro was
marked unhealthy, forcing the EKF to switch to the 2nd gyro. That
resulted in a crash.

I think the SPI bus was getting bad transfers and the register check
code happened to get a bad transfer, thereby marking the first gyro
unhealthy

This change ensures we only fail the register check if two transfers
in a row are bad. This makes it much less likely that a noisy bus will
lead to an unhealthy gyro
This commit is contained in:
Andrew Tridgell 2021-01-23 08:07:47 +11:00
parent 2b71bf8e99
commit 6163659887
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_HAL/Device.cpp
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@ -99,7 +99,7 @@ bool AP_HAL::Device::check_next_register(void)
_checked.counter = 0;
struct checkreg &reg = _checked.regs[_checked.next];
uint8_t v;
uint8_t v, v2;
if (_bank_select) {
if (!_bank_select(reg.bank)) {
@ -113,7 +113,8 @@ bool AP_HAL::Device::check_next_register(void)
}
}
if (!read_registers(reg.regnum, &v, 1) || v != reg.value) {
if ((!read_registers(reg.regnum, &v, 1) || v != reg.value) &&
(!read_registers(reg.regnum, &v2, 1) || v2 != reg.value)) {
// a register has changed value unexpectedly. Try changing it back
// and re-check it next time
#if 0