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AP_Vehicle: send statustext at regular intervals after watchdog reset

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This commit is contained in:
Peter Barker 2020-03-25 22:07:50 +11:00 committed by Peter Barker
parent 73e43d8da5
commit ec460b4244
2 changed files with 29 additions and 0 deletions
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25
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -115,6 +115,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, sample_gyros, LOOP_RATE, 50),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50),
#endif
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20),
};
void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
@ -158,6 +159,30 @@ void AP_Vehicle::scheduler_delay_callback()
logger.EnableWrites(true);
}
// if there's been a watchdog reset, notify the world via a statustext:
void AP_Vehicle::send_watchdog_reset_statustext()
{
if (!hal.util->was_watchdog_reset()) {
return;
}
const AP_HAL::Util::PersistentData &pd = hal.util->last_persistent_data;
gcs().send_text(MAV_SEVERITY_CRITICAL,
"WDG: T%d SL%u FL%u FT%u FA%x FTP%u FLR%x FICSR%u MM%u MC%u IE%u IEC%u",
pd.scheduler_task,
pd.semaphore_line,
pd.fault_line,
pd.fault_type,
(unsigned)pd.fault_addr,
pd.fault_thd_prio,
(unsigned)pd.fault_lr,
(unsigned)pd.fault_icsr,
pd.last_mavlink_msgid,
pd.last_mavlink_cmd,
(unsigned)pd.internal_errors,
(unsigned)pd.internal_error_count
);
}
AP_Vehicle *AP_Vehicle::_singleton = nullptr;
AP_Vehicle *AP_Vehicle::get_singleton()

4
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -241,6 +241,10 @@ private:
// delay() callback that processing MAVLink packets
static void scheduler_delay_callback();
// if there's been a watchdog reset, notify the world via a
// statustext:
void send_watchdog_reset_statustext();
bool likely_flying; // true if vehicle is probably flying
uint32_t _last_flying_ms; // time when likely_flying last went true