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AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health

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and get_accel_health.
This commit is contained in:
Mike McCauley 2014-01-22 08:57:03 +10:00 committed by Andrew Tridgell
parent 4dc33c8de8
commit f7279aa13f
2 changed files with 33 additions and 0 deletions
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30
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
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@ -224,6 +224,36 @@ bool AP_InertialSensor_Flymaple::update(void)
return true;
}
bool AP_InertialSensor_Flymaple::get_gyro_health(void) const
{
if (_last_gyro_timestamp == 0) {
// not initialised yet, show as healthy to prevent scary GCS
// warnings
return true;
}
uint64_t now = hal.scheduler->micros();
if ((now - _last_gyro_timestamp) >= (2 * raw_sample_interval_us)) {
// gyros have not updated
return false;
}
return true;
}
bool AP_InertialSensor_Flymaple::get_accel_health(void) const
{
if (_last_accel_timestamp == 0) {
// not initialised yet, show as healthy to prevent scary GCS
// warnings
return true;
}
uint64_t now = hal.scheduler->micros();
if ((now - _last_accel_timestamp) >= (2 * raw_sample_interval_us)) {
// gyros have not updated
return false;
}
return true;
}
float AP_InertialSensor_Flymaple::get_delta_time(void) const
{
return _delta_time;

3
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
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@ -22,6 +22,9 @@ public:
float get_delta_time() const;
float get_gyro_drift_rate();
bool wait_for_sample(uint16_t timeout_ms);
bool get_gyro_health(void) const;
bool get_accel_health(void) const;
bool healthy(void) const { return get_gyro_health() && get_accel_health(); } // testing
private:
uint16_t _init_sensor( Sample_rate sample_rate );