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Commander: cpuResourcesCheck: add 2 seconds hysteresis to trigger failure 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-11-02 17:02:37 +01:00 committed by Matthias Grob
parent ae888b73d0
commit c054bc2370
2 changed files with 28 additions and 14 deletions
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39
src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp
View File

@ -41,6 +41,8 @@ void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter)
return;
}
static hrt_abstime high_cpu_load_start_time_us_ = 0;
cpuload_s cpuload;
if (!_cpuload_sub.copy(&cpuload) || hrt_elapsed_time(&cpuload.timestamp) > 2_s) {
@ -59,26 +61,37 @@ void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter)
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No CPU load information");
}
high_cpu_load_start_time_us_ = hrt_absolute_time(); // reset
} else {
const float cpuload_percent = cpuload.load * 100.f;
if (cpuload_percent > _param_com_cpu_max.get()) {
/* EVENT
* @description
* The CPU load can be reduced for example by disabling unused modules (e.g. mavlink instances) or reducing the gyro update
* rate via <param>IMU_GYRO_RATEMAX</param>.
*
* <profile name="dev">
* The threshold can be adjusted via <param>COM_CPU_MAX</param> parameter.
* </profile>
*/
reporter.healthFailure<float>(NavModes::All, health_component_t::system, events::ID("check_cpuload_too_high"),
events::Log::Error, "CPU load too high: {1:.1}%", cpuload_percent);
// trigger the failure if the CPU load is above the threshold for 2 seconds
if (high_cpu_load_start_time_us_ == 0) {
high_cpu_load_start_time_us_ = hrt_absolute_time();
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: CPU load too high: %3.1f%%", (double)cpuload_percent);
} else if (hrt_elapsed_time(&high_cpu_load_start_time_us_) > 2_s) {
/* EVENT
* @description
* The CPU load can be reduced for example by disabling unused modules (e.g. mavlink instances) or reducing the gyro update
* rate via <param>IMU_GYRO_RATEMAX</param>.
*
* <profile name="dev">
* The threshold can be adjusted via <param>COM_CPU_MAX</param> parameter.
* </profile>
*/
reporter.healthFailure<float>(NavModes::All, health_component_t::system, events::ID("check_cpuload_too_high"),
events::Log::Error, "CPU load too high: {1:.1}%", cpuload_percent);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: CPU load too high: %3.1f%%", (double)cpuload_percent);
}
}
} else {
high_cpu_load_start_time_us_ = 0; // reset
}
}
}

3
src/modules/commander/commander_params.c
View File

@ -919,7 +919,8 @@ PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);
PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f);
/**
* Maximum allowed CPU load to still arm
* Maximum allowed CPU load to still arm.
* The check fails if the CPU load is above this threshold for 2s.
*
* A negative value disables the check.
*