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AP_Baro: move error logging of sensor health into AP_Baro

This commit is contained in:
Peter Barker 2022-04-27 20:57:42 +10:00 committed by Peter Barker
parent b2d811a444
commit d9f605ed36
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_Baro/AP_Baro.cpp
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@ -851,6 +851,10 @@ void AP_Baro::update(void)
_alt_offset_active = _alt_offset;
}
#if HAL_LOGGING_ENABLED
bool old_primary_healthy = sensors[_primary].healthy;
#endif
for (uint8_t i=0; i<_num_drivers; i++) {
drivers[i]->backend_update(i);
}
@ -905,6 +909,16 @@ void AP_Baro::update(void)
if (should_log()) {
Write_Baro();
}
#define MASK_LOG_ANY 0xFFFF
// log sensor healthy state change:
if (sensors[_primary].healthy != old_primary_healthy) {
if (AP::logger().should_log(MASK_LOG_ANY)) {
const LogErrorCode code = sensors[_primary].healthy ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY;
AP::logger().Write_Error(LogErrorSubsystem::BARO, code);
}
}
#endif
}