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vehicle_imu: switch to events

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Beat Küng
2021-09-09 22:02:45 +02:00
committed by Daniel Agar
parent acb73fde14
commit a8cc2f9ef6
1 changed files with 8 additions and 1 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+8 -1
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@@ -34,6 +34,7 @@
#include "VehicleIMU.hpp"
#include <px4_platform_common/log.h>
#include <px4_platform_common/events.h>
#include <lib/systemlib/mavlink_log.h>
#include <float.h>
@@ -349,7 +350,13 @@ bool VehicleIMU::UpdateAccel()
const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
if (clipping_total > _last_clipping_notify_total_count + 1000) {
mavlink_log_critical(&_mavlink_log_pub, "Accel %" PRIu8 " clipping, not safe to fly!", _instance);
mavlink_log_critical(&_mavlink_log_pub, "Accel %" PRIu8 " clipping, not safe to fly!\t", _instance);
/* EVENT
* @description Land now, and check the vehicle setup.
* Clipping can lead to fly-aways.
*/
events::send<uint8_t>(events::ID("vehicle_imu_accel_clipping"), events::Log::Critical,
"Accel {1} clipping, not safe to fly!", _instance);
_last_clipping_notify_time = accel.timestamp_sample;
_last_clipping_notify_total_count = clipping_total;
}