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Obstacle Avoidance prearm checks and log health status #11638

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merged 10 commits into from
Mar 27, 2019
Merged

Obstacle Avoidance prearm checks and log health status #11638

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9ad80bb
Added obstacle avoidance healthiness topic in vehicle status msg.
cmic0 Feb 13, 2019
153345d
Added status_change to force message updating.
cmic0 Feb 14, 2019
5bf776e
Commander: Improved logic for OA prearm checks.
cmic0 Mar 12, 2019
62ba7ce
Commander: increased hardcoded timeout time for avoidance to start.
cmic0 Mar 13, 2019
912d902
Commander: Added COM_ONB_BOOT_T parameter.
cmic0 Mar 13, 2019
e004f77
Commander: changed logic for checking OA at boot time.
cmic0 Mar 14, 2019
4b85732
Commander: reset print once variable if OA is lost.
cmic0 Mar 14, 2019
4a15a86
Commander: Changed COM_ONB_BOOT_T parameter to COM_OA_BOOT_T.
cmic0 Mar 19, 2019
99bd6ef
Fixed CI errors. changed _print_msg_once into private class member.
cmic0 Mar 22, 2019
384cfc3
Commander: renamed print_msg_once variable into a more self-explanato…
cmic0 Mar 25, 2019
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7 changes: 3 additions & 4 deletions src/modules/commander/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3834,7 +3834,6 @@ bool Commander::preflight_check(bool report)
void Commander::data_link_check(bool &status_changed)
{
bool updated = false;
static bool print_msg_once = false;

orb_check(_telemetry_status_sub, &updated);

Expand Down Expand Up @@ -3968,9 +3967,9 @@ void Commander::data_link_check(bool &status_changed)
//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0
&& hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _oa_boot_timeout.get() * 1_s) {
if (!print_msg_once) {
if (!_print_msg_once) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available!");
print_msg_once = true;
_print_msg_once = true;

}
}
Expand All @@ -3981,7 +3980,7 @@ void Commander::data_link_check(bool &status_changed)
_avoidance_system_lost = true;
mavlink_log_critical(&mavlink_log_pub, "Avoidance system lost");
status_flags.avoidance_system_valid = false;
print_msg_once = false;
_print_msg_once = false;
}

//if status changed
Expand Down
3 changes: 2 additions & 1 deletion src/modules/commander/Commander.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,7 +187,6 @@ class Commander : public ModuleBase<Commander>, public ModuleParams

hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
bool _avoidance_system_lost{false};
hrt_abstime _avoidance_system_not_started{0};

bool _avoidance_system_status_change{false};
uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT};
Expand All @@ -204,6 +203,8 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
systemlib::Hysteresis _auto_disarm_landed{false};
systemlib::Hysteresis _auto_disarm_killed{false};

bool _print_msg_once{false};
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I'd rename it to _print_avoidance_msg_once otherwise it's not clear what this is referring to.

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Done in 384cfc3


// Subscriptions
Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
Subscription<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
Expand Down