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AP_Airspeed: Make user facing messages clearer, improve handling of bad tube order

This commit is contained in:
Michael du Breuil 2018-09-20 15:47:39 -07:00 committed by Andrew Tridgell
parent f810b7b9f6
commit 88aa20d691
1 changed files with 9 additions and 8 deletions
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17
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -265,7 +265,7 @@ void AP_Airspeed::init()
}
if (sensor[i] && !sensor[i]->init()) {
gcs().send_text(MAV_SEVERITY_INFO, "Airspeed[%u] init failed", i);
gcs().send_text(MAV_SEVERITY_INFO, "Airspeed %u init failed", i + 1);
delete sensor[i];
sensor[i] = nullptr;
}
@ -338,9 +338,9 @@ void AP_Airspeed::update_calibration(uint8_t i, float raw_pressure)
if (AP_HAL::millis() - state[i].cal.start_ms >= 1000 &&
state[i].cal.read_count > 15) {
if (state[i].cal.count == 0) {
gcs().send_text(MAV_SEVERITY_INFO, "Airspeed[%u] sensor unhealthy", i);
gcs().send_text(MAV_SEVERITY_INFO, "Airspeed %u unhealthy", i + 1);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Airspeed[%u] sensor calibrated", i);
gcs().send_text(MAV_SEVERITY_INFO, "Airspeed %u calibrated", i + 1);
param[i].offset.set_and_save(state[i].cal.sum / state[i].cal.count);
}
state[i].cal.start_ms = 0;
@ -396,11 +396,6 @@ void AP_Airspeed::read(uint8_t i)
state[i].last_pressure = airspeed_pressure;
state[i].raw_airspeed = sqrtf(MAX(airspeed_pressure, 0) * param[i].ratio);
state[i].airspeed = sqrtf(MAX(state[i].filtered_pressure, 0) * param[i].ratio);
if (airspeed_pressure < -32) {
// we're reading more than about -8m/s. The user probably has
// the ports the wrong way around
state[i].healthy = false;
}
break;
case PITOT_TUBE_ORDER_AUTO:
default:
@ -410,6 +405,12 @@ void AP_Airspeed::read(uint8_t i)
break;
}
if (state[i].last_pressure < -32) {
// we're reading more than about -8m/s. The user probably has
// the ports the wrong way around
state[i].healthy = false;
}
state[i].last_update_ms = AP_HAL::millis();
}