Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: Convert common phrases to variables

This commit is contained in:
muramura 2024-05-18 07:59:20 +09:00
parent 5cf2c2740e
commit e082b3e2ef
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduCopter/ekf_check.cpp
View File

@ -284,6 +284,7 @@ void Copter::check_vibration()
const bool bad_vibe_detected = (innovation_checks_valid && innov_velD_posD_positive && (vel_variance_filt.get() > 1.0f)) || is_vibration_affected; const bool bad_vibe_detected = (innovation_checks_valid && innov_velD_posD_positive && (vel_variance_filt.get() > 1.0f)) || is_vibration_affected;
const bool do_bad_vibe_actions = (g2.fs_vibe_enabled == 1) && bad_vibe_detected && motors->armed() && !flightmode->has_manual_throttle(); const bool do_bad_vibe_actions = (g2.fs_vibe_enabled == 1) && bad_vibe_detected && motors->armed() && !flightmode->has_manual_throttle();
static const char *vibrationCompensation = "Vibration compensation %s";
if (!vibration_check.high_vibes) { if (!vibration_check.high_vibes) {
// initialise timers // initialise timers
if (!do_bad_vibe_actions) { if (!do_bad_vibe_actions) {
@ -296,7 +297,7 @@ void Copter::check_vibration()
vibration_check.high_vibes = true; vibration_check.high_vibes = true;
pos_control->set_vibe_comp(true); pos_control->set_vibe_comp(true);
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED); LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation ON"); gcs().send_text(MAV_SEVERITY_CRITICAL, vibrationCompensation, "ON");
} }
} else { } else {
// initialise timer // initialise timer
@ -311,7 +312,7 @@ void Copter::check_vibration()
pos_control->set_vibe_comp(false); pos_control->set_vibe_comp(false);
vibration_check.clear_ms = 0; vibration_check.clear_ms = 0;
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED); LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation OFF"); gcs().send_text(MAV_SEVERITY_CRITICAL, vibrationCompensation, "OFF");
} }
} }