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vehicle_magnetometer: switch to events

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This commit is contained in:
Beat Küng
2021-09-09 22:02:26 +02:00
committed by Daniel Agar
parent f8dc915789
commit acb73fde14
1 changed files with 23 additions and 1 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+23 -1
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@@ -34,6 +34,7 @@
#include "VehicleMagnetometer.hpp" #include "VehicleMagnetometer.hpp"
#include <px4_platform_common/log.h> #include <px4_platform_common/log.h>
#include <px4_platform_common/events.h>
#include <lib/geo/geo.h> #include <lib/geo/geo.h>
namespace sensors namespace sensors
@@ -416,7 +417,7 @@ void VehicleMagnetometer::Run()
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = hrt_absolute_time();
if (now - _last_error_message > 3_s) { if (now - _last_error_message > 3_s) {
mavlink_log_emergency(&_mavlink_log_pub, "%s #%i failed: %s%s%s%s%s!", mavlink_log_emergency(&_mavlink_log_pub, "%s #%i failed: %s%s%s%s%s!\t",
"MAG", "MAG",
failover_index, failover_index,
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""), ((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
@@ -424,6 +425,27 @@ void VehicleMagnetometer::Run()
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TIMEOUT" : ""), ((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TIMEOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ERR CNT" : ""), ((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ERR CNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : "")); ((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
events::px4::enums::sensor_failover_reason_t failover_reason{};
if (flags & DataValidator::ERROR_FLAG_NO_DATA) { failover_reason = failover_reason | events::px4::enums::sensor_failover_reason_t::no_data; }
if (flags & DataValidator::ERROR_FLAG_STALE_DATA) { failover_reason = failover_reason | events::px4::enums::sensor_failover_reason_t::stale_data; }
if (flags & DataValidator::ERROR_FLAG_TIMEOUT) { failover_reason = failover_reason | events::px4::enums::sensor_failover_reason_t::timeout; }
if (flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) { failover_reason = failover_reason | events::px4::enums::sensor_failover_reason_t::high_error_count; }
if (flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) { failover_reason = failover_reason | events::px4::enums::sensor_failover_reason_t::high_error_density; }
/* EVENT
* @description
* Land immediately and check the system.
*/
events::send<uint8_t, events::px4::enums::sensor_failover_reason_t>(
events::ID("sensor_failover_mag"), events::Log::Emergency, "Magnetometer sensor #{1} failure: {2}", failover_index,
failover_reason);
_last_error_message = now; _last_error_message = now;
} }