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AP_BattMonitor: disable MPPT Fault announcement spam

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This commit is contained in:
Tom Pittenger 2023-01-24 09:22:18 -08:00 committed by Andrew Tridgell
parent 9019fa2f8d
commit 47e2a80be5
2 changed files with 22 additions and 14 deletions
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25
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
View File

@ -209,7 +209,12 @@ void AP_BattMonitor_UAVCAN::handle_mppt_stream(const MpptStreamCb &cb)
mppt_set_bootup_powered_state();
}
mppt_check_and_report_faults(cb.msg->fault_flags);
#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
if (_mppt.fault_flags != cb.msg->fault_flags) {
mppt_report_faults(_instance, cb.msg->fault_flags);
}
#endif
_mppt.fault_flags = cb.msg->fault_flags;
}
void AP_BattMonitor_UAVCAN::handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb)
@ -365,18 +370,13 @@ void AP_BattMonitor_UAVCAN::mppt_set_powered_state(bool power_on, bool force)
client.call(_node_id, request);
}
#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
// report changes in MPPT faults
void AP_BattMonitor_UAVCAN::mppt_check_and_report_faults(uint8_t fault_flags)
void AP_BattMonitor_UAVCAN::mppt_report_faults(const uint8_t instance, const uint8_t fault_flags)
{
// return immediately if no changes
if (_mppt.fault_flags == fault_flags) {
return;
}
_mppt.fault_flags = fault_flags;
// handle recovery
if (_mppt.fault_flags == 0) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: OK", (unsigned)_instance+1);
if (fault_flags == 0) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: OK", (unsigned)instance+1);
return;
}
@ -385,13 +385,13 @@ void AP_BattMonitor_UAVCAN::mppt_check_and_report_faults(uint8_t fault_flags)
// this loop is to generate multiple messages if there are multiple concurrent faults, but also run once if there are no faults
if ((fault_bit & fault_flags) != 0) {
const MPPT_FaultFlags err = (MPPT_FaultFlags)fault_bit;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: %s", (unsigned)_instance+1, mppt_fault_string(err));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: %s", (unsigned)instance+1, mppt_fault_string(err));
}
}
}
// returns string description of MPPT fault bit. Only handles single bit faults
const char* AP_BattMonitor_UAVCAN::mppt_fault_string(MPPT_FaultFlags fault)
const char* AP_BattMonitor_UAVCAN::mppt_fault_string(const MPPT_FaultFlags fault)
{
switch (fault) {
case MPPT_FaultFlags::OVER_VOLTAGE:
@ -405,6 +405,7 @@ const char* AP_BattMonitor_UAVCAN::mppt_fault_string(MPPT_FaultFlags fault)
}
return "unknown";
}
#endif
// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
uint32_t AP_BattMonitor_UAVCAN::get_mavlink_fault_bitmask() const

11
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
View File

@ -8,6 +8,10 @@
#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
#ifndef AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
#define AP_BATTMONITOR_UAVCAN_MPPT_DEBUG 0
#endif
class BattInfoCb;
class BattInfoAuxCb;
class MpptStreamCb;
@ -74,8 +78,11 @@ private:
void mppt_set_bootup_powered_state();
void mppt_set_armed_powered_state();
void mppt_set_powered_state(bool power_on, bool force);
void mppt_check_and_report_faults(uint8_t fault_flags);
const char* mppt_fault_string(MPPT_FaultFlags fault);
#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
static void mppt_report_faults(const uint8_t instance, const uint8_t fault_flags);
static const char* mppt_fault_string(const MPPT_FaultFlags fault);
#endif
AP_BattMonitor::BattMonitor_State _interim_state;
BattMonitor_UAVCAN_Type _type;