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Simplified esc_status healthiness logic. 

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2019-08-07 14:24:34 +02:00 committed by Beat Küng
parent 8a2d05be4f
commit 09d79b221f
4 changed files with 21 additions and 28 deletions
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9
src/drivers/uavcan/actuators/esc.cpp
View File

@ -233,14 +233,13 @@ void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent &)
uint8_t UavcanEscController::check_escs_status()
{
int esc_status_flags = 255;
int esc_status_flags = 0;
for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; index++) {
if (_esc_status.esc[index].timestamp == 0) {
esc_status_flags &= ~(1 << index);
} else if (hrt_elapsed_time(&_esc_status.esc[index].timestamp) > 800000.0f) {
esc_status_flags &= ~(1 << index);
if (_esc_status.esc[index].timestamp > 0 && hrt_elapsed_time(&_esc_status.esc[index].timestamp) < 800000.0f) {
esc_status_flags |= (1 << index);
}
}

6
src/drivers/uavcan/uavcan_main.cpp
View File

@ -1125,9 +1125,9 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
_mixers->groups_required(_groups_required);
PX4_INFO("Groups required %d", _groups_required);
_rotor_count = _mixers->get_multirotor_count();
_esc_controller.set_rotor_count(_rotor_count);
PX4_INFO("Number of rotors %d", _rotor_count);
int rotor_count = _mixers->get_multirotor_count();
_esc_controller.set_rotor_count(rotor_count);
PX4_INFO("Number of rotors %d", rotor_count);
}
}
}

2
src/drivers/uavcan/uavcan_main.hpp
View File

@ -216,8 +216,6 @@ private:
// index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
uint8_t _rotor_count = 0;
void handle_time_sync(const uavcan::TimerEvent &);
typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> TimerCallback;

32
src/modules/commander/Commander.cpp
View File

@ -1622,16 +1622,10 @@ Commander::run()
}
}
if (orb_exists(ORB_ID(esc_status), 0) == PX4_OK) {
if (esc_status_sub.updated()) {
/* ESCs status changed */
esc_status_sub.copy(&esc_status);
esc_status_check();
}
} else {
status_flags.condition_escs_error = false;
if (esc_status_sub.updated()) {
/* ESCs status changed */
esc_status_sub.copy(&esc_status);
esc_status_check();
}
estimator_check(&status_changed);
@ -4377,25 +4371,27 @@ void Commander::esc_status_check()
char esc_fail_msg[50];
esc_fail_msg[0] = '\0';
int online_bitmask = (1 << (esc_status.esc_count)) - 1;
int online_bitmask = (1 << esc_status.esc_count) - 1;
// Check if ALL the ESCs are online
if (online_bitmask == esc_status.esc_online_flags) {
status_flags.condition_escs_error = false;
_last_esc_online_flags = esc_status.esc_online_flags;
}
// Avoid checking the status if the flags are the same or if the mixer has not yet been loaded from uavcan_main
else if (_last_esc_online_flags == esc_status.esc_online_flags || esc_status.esc_count == 0) {
} else if (_last_esc_online_flags == esc_status.esc_online_flags || esc_status.esc_count == 0) {
// Avoid checking the status if the flags are the same or if the mixer has not yet been loaded in the ESC driver
status_flags.condition_escs_error = true;
}
// Only warn the user when an ESC goes from ONLINE to OFFLINE. This is done to prevent showing Offline ESCs warning messages at boot
else if (esc_status.esc_online_flags < _last_esc_online_flags) {
} else if (esc_status.esc_online_flags < _last_esc_online_flags) {
// Only warn the user when an ESC goes from ONLINE to OFFLINE. This is done to prevent showing Offline ESCs warnings at boot
for (int index = 0; index < esc_status.esc_count; index++) {
if ((bool)!(esc_status.esc_online_flags & (1 << index))) {
if ((esc_status.esc_online_flags & (1 << index)) == 0) {
snprintf(esc_fail_msg + strlen(esc_fail_msg), sizeof(esc_fail_msg) - strlen(esc_fail_msg), "ESC%d ", index + 1);
esc_fail_msg[sizeof(esc_fail_msg) - 1] = '\0';
}
}