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AP_Generator: mask MaintenanceRequired out from error bits in prearm

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Turns out the generator sets this bit when it reaches the
maintenance-required state.

Mask it out from the error bits so the user can still fly.

Add some periodically-run code to complain about maintenance-required,
separate from the prearm checks.
This commit is contained in:
Peter Barker 2022-05-04 10:06:57 +10:00 committed by Andrew Tridgell
parent c496985e37
commit bc0befc737
2 changed files with 34 additions and 5 deletions
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33
libraries/AP_Generator/AP_Generator_RichenPower.cpp
View File

@ -194,6 +194,23 @@ constexpr float AP_Generator_RichenPower::heat_required_for_run()
}
void AP_Generator_RichenPower::check_maintenance_required()
{
// don't bother the user while flying:
if (hal.util->get_soft_armed()) {
return;
}
const uint32_t now = AP_HAL::millis();
if (last_reading.errors & (1U<<uint16_t(Errors::MaintenanceRequired))) {
if (now - last_maintenance_warning_ms > 60000) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Generator: requires maintenance");
last_maintenance_warning_ms = now;
}
}
}
/*
update the state of the sensor
*/
@ -205,6 +222,7 @@ void AP_Generator_RichenPower::update(void)
if (last_reading_ms != 0) {
update_runstate();
check_maintenance_required();
}
(void)get_reading();
@ -335,17 +353,22 @@ bool AP_Generator_RichenPower::pre_arm_check(char *failmsg, uint8_t failmsg_len)
hal.util->snprintf(failmsg, failmsg_len, "no messages in %ums", unsigned(now - last_reading_ms));
return false;
}
if (last_reading.seconds_until_maintenance == 0) {
hal.util->snprintf(failmsg, failmsg_len, "requires maintenance");
}
if (SRV_Channels::get_channel_for(SRV_Channel::k_generator_control) == nullptr) {
hal.util->snprintf(failmsg, failmsg_len, "need a servo output channel");
return false;
}
if (last_reading.errors) {
uint16_t errors = last_reading.errors;
// requiring maintenance isn't something that should stop
// people flying - they have work to do. But we definitely
// complain about it - a lot.
errors &= ~(1U << uint16_t(Errors::MaintenanceRequired));
if (errors) {
for (uint16_t i=0; i<16; i++) {
if (last_reading.errors & (1U << (uint16_t)i)) {
if (errors & (1U << i)) {
if (i < (uint16_t)Errors::LAST) {
hal.util->snprintf(failmsg, failmsg_len, "error: %s", error_strings[i]);
} else {

6
libraries/AP_Generator/AP_Generator_RichenPower.h
View File

@ -204,5 +204,11 @@ private:
}
return AP_HAL::millis() - idle_state_start_ms;
}
// check if the generator requires maintenance and send a message if it does:
void check_maintenance_required();
// if we are emitting warnings about the generator requiring
// maintenamce, this is the last time we sent the warning:
uint32_t last_maintenance_warning_ms;
};
#endif