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Code Issues Releases Activity

OP-1290 fix event system issues caused by alarm flapping

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This commit is contained in:
Corvus Corax 2014-04-05 17:27:52 +02:00
parent 5b6d397f76
commit 48876620fc
2 changed files with 36 additions and 3 deletions
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12
flight/libraries/alarms.c
View File

@ -75,8 +75,12 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
// Read alarm and update its severity only if it was changed // Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms); SystemAlarmsGet(&alarms);
if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) { uint32_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
if ((flightTime - cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] > 1000 &&
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
|| cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity; cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] = flightTime;
SystemAlarmsSet(&alarms); SystemAlarmsSet(&alarms);
} }
@ -110,10 +114,14 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
// Read alarm and update its severity only if it was changed // Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms); SystemAlarmsGet(&alarms);
if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) { uint32_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
if ((flightTime - cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] > 1000 &&
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
|| cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = status; cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = status;
cast_struct_to_array(alarms.ExtendedAlarmSubStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = subStatus; cast_struct_to_array(alarms.ExtendedAlarmSubStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = subStatus;
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity; cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] = flightTime;
SystemAlarmsSet(&alarms); SystemAlarmsSet(&alarms);
} }

27
shared/uavobjectdefinition/systemalarms.xml
View File

@ -26,6 +26,31 @@
<elementname>Power</elementname> <elementname>Power</elementname>
</elementnames> </elementnames>
</field> </field>
<field name="LastChange" units="ms" type="uint32">
<elementnames>
<elementname>SystemConfiguration</elementname>
<elementname>BootFault</elementname>
<elementname>OutOfMemory</elementname>
<elementname>StackOverflow</elementname>
<elementname>CPUOverload</elementname>
<elementname>EventSystem</elementname>
<elementname>Telemetry</elementname>
<elementname>Receiver</elementname>
<elementname>ManualControl</elementname>
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>Airspeed</elementname>
<elementname>Stabilization</elementname>
<elementname>Guidance</elementname>
<elementname>PathPlan</elementname>
<elementname>Battery</elementname>
<elementname>FlightTime</elementname>
<elementname>I2C</elementname>
<elementname>GPS</elementname>
<elementname>Power</elementname>
</elementnames>
</field>
<field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None"> <field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None">
<elementnames> <elementnames>
<elementname>SystemConfiguration</elementname> <elementname>SystemConfiguration</elementname>
@ -45,7 +70,7 @@
</field> </field>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="throttled" period="100"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/> <logging updatemode="manual" period="0"/>
</object> </object>
</xml> </xml>