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sensors: don't just blindly switch to another gyro

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Failover is good but failover to garbage doesn't help.
This commit is contained in:
Julian Oes
2016-02-10 15:24:32 +01:00
parent e8402f0f78
commit 160400c611
1 changed files with 6 additions and 7 deletions
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src/modules/sensors/sensors.cpp
+6 -7
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@@ -2219,7 +2219,7 @@ Sensors::task_main()
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warnx("sens: poll error %d, %d", pret, errno);
PX4_WARN("poll error %d, %d", pret, errno);
continue;
}
@@ -2235,13 +2235,12 @@ Sensors::task_main()
mag_poll(raw);
baro_poll(raw);
#ifndef __PX4_POSIX
/* Work out if main gyro timed out and fail over to alternate gyro.
* However, don't do this if the secondary is not available. */
if (hrt_elapsed_time(&raw.gyro_timestamp[0]) > 20 * 1000 && _gyro_sub[1] >= 0) {
/* work out if main gyro timed out and fail over to alternate gyro */
if (raw.gyro_timestamp[0] > 0 && hrt_elapsed_time(&raw.gyro_timestamp[0]) > 20 * 1000) {
/* if the secondary failed as well, go to the tertiary */
if (_gyro_sub[2] >= 0 && (hrt_elapsed_time(&raw.gyro_timestamp[1]) > 20 * 1000)) {
/* If the secondary failed as well, go to the tertiary, also only if available. */
if (hrt_elapsed_time(&raw.gyro_timestamp[1]) > 20 * 1000 && _gyro_sub[2] >= 0) {
fds[0].fd = _gyro_sub[2];
warnx("failing over to third gyro");