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AirspeedSelector: improve messaging on airspeed sensor switches 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-12-23 18:58:35 +01:00
parent aecc0aa0c3
commit 0c2099e788
1 changed files with 17 additions and 4 deletions
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21
src/modules/airspeed_selector/airspeed_selector_main.cpp
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@ -540,11 +540,24 @@ void AirspeedModule::select_airspeed_and_publish()
}
}
// suppress log message if still on the ground and no airspeed sensor connected
// print warning or info, depending of whether airspeed got declared invalid or healthy
if (_valid_airspeed_index != _prev_airspeed_index &&
(_number_of_airspeed_sensors > 0 || !_vehicle_land_detected.landed)) {
mavlink_log_critical(&_mavlink_log_pub, "Airspeed: switched from sensor %i to %i", _prev_airspeed_index,
_valid_airspeed_index);
(_number_of_airspeed_sensors > 0 || !_vehicle_land_detected.landed) &&
_valid_airspeed_index != _prev_airspeed_index) {
if (_prev_airspeed_index > 0) {
mavlink_log_critical(&_mavlink_log_pub, "Airspeed sensor failure deteced (%i, %i)", _prev_airspeed_index,
_valid_airspeed_index);
} else if (_prev_airspeed_index == 0 && _valid_airspeed_index == -1) {
mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation invald");
} else if (_prev_airspeed_index == -1 && _valid_airspeed_index == 0) {
mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation valid");
} else {
mavlink_log_info(&_mavlink_log_pub, "Airspeed sensor healthy, start using again (%i, %i)", _prev_airspeed_index,
_valid_airspeed_index);
}
}
_prev_airspeed_index = _valid_airspeed_index;