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Copter: add dataflash error for GPS glitch

This commit is contained in:
Randy Mackay 2013-09-23 12:20:57 +09:00
parent 6c5294f89e
commit c596b27719
2 changed files with 11 additions and 1 deletions
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9
ArduCopter/ArduCopter.pde
View File

@ -1390,7 +1390,14 @@ static void update_GPS(void)
// run glitch protection and update AP_Notify // run glitch protection and update AP_Notify
gps_glitch.check_position(); gps_glitch.check_position();
AP_Notify::flags.gps_glitching = gps_glitch.glitching(); if (AP_Notify::flags.gps_glitching != gps_glitch.glitching()) {
if (gps_glitch.glitching()) {
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_GPS_GLITCH);
}else{
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_ERROR_RESOLVED);
}
AP_Notify::flags.gps_glitching = gps_glitch.glitching();
}
// check if we can initialise home yet // check if we can initialise home yet
if (!ap.home_is_set) { if (!ap.home_is_set) {

3
ArduCopter/defines.h
View File

@ -436,6 +436,7 @@ enum ap_message {
#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8 #define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9 #define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
#define ERROR_SUBSYSTEM_FLGHT_MODE 10 #define ERROR_SUBSYSTEM_FLGHT_MODE 10
#define ERROR_SUBSYSTEM_GPS 11
// general error codes // general error codes
#define ERROR_CODE_ERROR_RESOLVED 0 #define ERROR_CODE_ERROR_RESOLVED 0
#define ERROR_CODE_FAILED_TO_INITIALISE 1 #define ERROR_CODE_FAILED_TO_INITIALISE 1
@ -446,6 +447,8 @@ enum ap_message {
#define ERROR_CODE_FAILSAFE_OCCURRED 1 #define ERROR_CODE_FAILSAFE_OCCURRED 1
// subsystem specific error codes -- compass // subsystem specific error codes -- compass
#define ERROR_CODE_COMPASS_FAILED_TO_READ 2 #define ERROR_CODE_COMPASS_FAILED_TO_READ 2
// subsystem specific error codes -- gps
#define ERROR_CODE_GPS_GLITCH 2