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[ardrone2] count imu_lost and report filter status

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This commit is contained in:
Gautier Hattenberger
2014-12-10 17:35:58 +01:00
parent b2938be9d5
commit 3d3795116f
3 changed files with 5 additions and 1 deletions
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conf/telemetry/default_ardrone.xml
+1
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@@ -19,6 +19,7 @@
<message name="I2C_ERRORS" period="4.1"/> <message name="I2C_ERRORS" period="4.1"/>
<message name="UART_ERRORS" period="3.1"/> <message name="UART_ERRORS" period="3.1"/>
<message name="DATALINK_REPORT" period="5.1"/> <message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/>
</mode> </mode>
<mode name="ppm"> <mode name="ppm">
conf/telemetry/default_rotorcraft.xml
+1
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@@ -21,6 +21,7 @@
<message name="SUPERBITRF" period="3"/> <message name="SUPERBITRF" period="3"/>
<message name="ENERGY" period="2.5"/> <message name="ENERGY" period="2.5"/>
<message name="DATALINK_REPORT" period="5.1"/> <message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/>
</mode> </mode>
<mode name="ppm"> <mode name="ppm">
sw/airborne/boards/ardrone/navdata.c
+3 -1
View File
@@ -58,6 +58,7 @@ static int nav_fd = 0;
measures_t navdata; measures_t navdata;
static int imu_lost = 0; static int imu_lost = 0;
static int imu_lost_counter = 0;
/** Sonar offset. /** Sonar offset.
* Offset value in ADC * Offset value in ADC
@@ -158,7 +159,7 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
uint8_t mde = 3; uint8_t mde = 3;
if (ahrs.status == AHRS_UNINIT) mde = 2; if (ahrs.status == AHRS_UNINIT) mde = 2;
if (imu_lost) mde = 5; if (imu_lost) mde = 5;
uint16_t val = 0; uint16_t val = imu_lost_counter;
pprz_msg_send_STATE_FILTER_STATUS(trans, dev, AC_ID, &mde, &val); pprz_msg_send_STATE_FILTER_STATUS(trans, dev, AC_ID, &mde, &val);
} }
@@ -317,6 +318,7 @@ static void mag_freeze_check(void) {
printf("Mag needs resetting, Values are frozen!!! %d , %d \n", LastMagValue, navdata.mx); printf("Mag needs resetting, Values are frozen!!! %d , %d \n", LastMagValue, navdata.mx);
// set imu_lost flag // set imu_lost flag
imu_lost = 1; imu_lost = 1;
imu_lost_counter++;
if (mag_freeze_retry < MAG_FREEZE_MAX_RETRY) { if (mag_freeze_retry < MAG_FREEZE_MAX_RETRY) {
printf("Setting GPIO 177 to reset PIC Navigation Board \n"); printf("Setting GPIO 177 to reset PIC Navigation Board \n");