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AP_BoardConfig: fixed param handling in sensor error

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allow users to set parameters to recover their boards
This commit is contained in:
Andrew Tridgell 2019-01-04 17:57:13 +11:00
parent 42283b2595
commit f13dc69c3d
1 changed files with 15 additions and 3 deletions
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18
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -327,9 +327,21 @@ void AP_BoardConfig::sensor_config_error(const char *reason)
before this, so the user can change parameters (and in
particular BRD_TYPE if needed)
*/
uint32_t last_print_ms = 0;
bool have_gcs = GCS::instance() != nullptr;
while (true) {
printf("Sensor failure: %s\n", reason);
gcs().send_text(MAV_SEVERITY_ERROR, "Check BRD_TYPE: %s", reason);
hal.scheduler->delay(3000);
uint32_t now = AP_HAL::millis();
if (now - last_print_ms >= 3000) {
last_print_ms = now;
printf("Sensor failure: %s\n", reason);
if (have_gcs) {
gcs().send_text(MAV_SEVERITY_ERROR, "Check BRD_TYPE: %s", reason);
}
}
if (have_gcs) {
gcs().update_receive();
gcs().update_send();
}
hal.scheduler->delay(5);
}
}