dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

sensors/vehicle_imu: accel clipping warning minor improvements 

- no warning if accel is disabled
 - threshold increased 100 -> 1000 (only warn if severe ongoing clipping)
 - more generic warning message (vehicle isn't necessarily in air flying)
This commit is contained in:
Daniel Agar 2021-04-25 17:03:43 -04:00 committed by GitHub
parent 8478d1ea37
commit 6e9e503ee6
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/modules/sensors/vehicle_imu/VehicleIMU.cpp
View File

@ -328,15 +328,15 @@ void VehicleIMU::Run()
publish_status = true;
// start notifying the user periodically if there's significant continuous clipping
const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
if (_accel_calibration.enabled() && (hrt_elapsed_time(&_last_clipping_notify_time) > 3_s)) {
// start notifying the user periodically if there's significant continuous clipping
const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
if ((hrt_elapsed_time(&_last_clipping_notify_time) > 3_s)
&& (clipping_total > _last_clipping_notify_total_count + 100)) {
mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, land immediately!", _instance);
_last_clipping_notify_time = accel.timestamp_sample;
_last_clipping_notify_total_count = clipping_total;
if (clipping_total > _last_clipping_notify_total_count + 1000) {
mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, not safe to fly!", _instance);
_last_clipping_notify_time = accel.timestamp_sample;
_last_clipping_notify_total_count = clipping_total;
}
}
}