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sensors/vehicle_imu: accel clipping warning minor improvements

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- 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
1 changed files with 8 additions and 8 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+4 -4
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@@ -328,17 +328,17 @@ void VehicleIMU::Run()
publish_status = true; publish_status = true;
if (_accel_calibration.enabled() && (hrt_elapsed_time(&_last_clipping_notify_time) > 3_s)) {
// start notifying the user periodically if there's significant continuous clipping // 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]; 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) if (clipping_total > _last_clipping_notify_total_count + 1000) {
&& (clipping_total > _last_clipping_notify_total_count + 100)) { mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, not safe to fly!", _instance);
mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, land immediately!", _instance);
_last_clipping_notify_time = accel.timestamp_sample; _last_clipping_notify_time = accel.timestamp_sample;
_last_clipping_notify_total_count = clipping_total; _last_clipping_notify_total_count = clipping_total;
} }
} }
}
// break once caught up to gyro // break once caught up to gyro
if (!sensor_data_gap && _intervals_configured if (!sensor_data_gap && _intervals_configured