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AP_NavEKF3: Allow checking all cores for health

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This commit is contained in:
Michael du Breuil 2019-03-23 18:21:02 +00:00 committed by Andrew Tridgell
parent 7f639c1bb2
commit fe3b29a088
2 changed files with 22 additions and 1 deletions
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21
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -804,6 +804,19 @@ bool NavEKF3::healthy(void) const
return core[primary].healthy();
}
bool NavEKF3::all_cores_healthy(void) const
{
if (!core) {
return false;
}
for (uint8_t i = 0; i < num_cores; i++) {
if (!core[i].healthy()) {
return false;
}
}
return true;
}
// returns the index of the primary core
// return -1 if no primary core selected
int8_t NavEKF3::getPrimaryCoreIndex(void) const
@ -1447,7 +1460,13 @@ const char *NavEKF3::prearm_failure_reason(void) const
if (!core) {
return nullptr;
}
return core[primary].prearm_failure_reason();
for (uint8_t i = 0; i < num_cores; i++) {
const char * failure = core[primary].prearm_failure_reason();
if (failure != nullptr) {
return failure;
}
}
return nullptr;
}
// Returns the amount of vertical position change due to the last reset or core switch in metres

2
libraries/AP_NavEKF3/AP_NavEKF3.h
View File

@ -59,6 +59,8 @@ public:
// Check basic filter health metrics and return a consolidated health status
bool healthy(void) const;
// Check that all cores are started and healthy
bool all_cores_healthy(void) const;
// returns the index of the primary core
// return -1 if no primary core selected