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attitude_q : more verbose failsafe output

This commit is contained in:
Kabir Mohammed 2015-11-12 12:18:19 +05:30
parent 578b250069
commit 0f489a194f
2 changed files with 19 additions and 6 deletions
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2
src/lib/ecl/validation/data_validator_group.cpp
View File

@ -199,7 +199,7 @@ void
DataValidatorGroup::print()
{
/* print the group's state */
ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (# %u)",
ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)",
_curr_best, _prev_best, (_toggle_count > 0) ? "YES" : "NO",
_toggle_count);

23
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
View File

@ -369,12 +369,25 @@ void AttitudeEstimatorQ::task_main()
_data_good = true;
if (!_failsafe && (_voter_gyro.failover_count() > 0 ||
_voter_accel.failover_count() > 0 ||
_voter_mag.failover_count() > 0)) {
if (!_failsafe) {
if (_voter_gyro.failover_count() > 0) {
_failsafe = true;
mavlink_and_console_log_emergency(_mavlink_fd, "Gyro failure!");
}
_failsafe = true;
mavlink_and_console_log_emergency(_mavlink_fd, "SENSOR FAILSAFE! RETURN TO LAND IMMEDIATELY");
if (_voter_accel.failover_count() > 0) {
_failsafe = true;
mavlink_and_console_log_emergency(_mavlink_fd, "Accel failure!");
}
if (_voter_mag.failover_count() > 0) {
_failsafe = true;
mavlink_and_console_log_emergency(_mavlink_fd, "Mag failure!");
}
if (_failsafe) {
mavlink_and_console_log_emergency(_mavlink_fd, "SENSOR FAILSAFE! RETURN TO LAND IMMEDIATELY");
}
}
if (!_vibration_warning && (_voter_gyro.get_vibration_factor(curr_time) > _vibration_warning_threshold ||