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Code Issues Releases Activity

OP-1273 added and implemented Airpeed alarm for the PixHawk sensor

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This commit is contained in:
Andres 2014-03-28 14:18:14 +01:00
parent 4188b492fc
commit 7ec855af5f
5 changed files with 205 additions and 94 deletions
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9
flight/modules/Airspeed/airspeed.c
View File

@ -156,15 +156,15 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
AirspeedSensorGet(&airspeedData);
// if sensor type changed and the last sensor was
// either Eagletree or PixHawk, reset I2C alarms
// either Eagletree or PixHawk, reset Airspeed alarm
if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
switch (lastAirspeedSensorType) {
// Eagletree or PixHawk => Reset I2C alams
// Eagletree or PixHawk => Reset Airspeed alams
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
AlarmsDefault(SYSTEMALARMS_ALARM_I2C);
AlarmsDefault(SYSTEMALARMS_ALARM_AIRSPEED);
break;
// else do not reset I2C alarms
// else do not reset Airspeed alarm
default: break;
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
@ -193,6 +193,7 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
gps_airspeedGet(&airspeedData, &airspeedSettings);
break;
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
default:
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
}

8
flight/modules/Airspeed/baro_airspeed_ms4525do.c
View File

@ -71,7 +71,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
int8_t retVal = PIOS_MS4525DO_Request();
if (retVal != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
return;
}
@ -84,17 +84,17 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
retVal = baro_airspeedReadMS4525DO(airspeedSensor, airspeedSettings);
switch (retVal) {
case 0: AlarmsClear(SYSTEMALARMS_ALARM_I2C);
case 0: AlarmsClear(SYSTEMALARMS_ALARM_AIRSPEED);
break;
case -4:
case -5:
case -7: AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
case -7: AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
break;
case -1:
case -2:
case -3:
case -6:
default: AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
default: AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
}
}

279
ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
View File

@ -14,8 +14,8 @@
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2
shared/uavobjectdefinition/airspeedsettings.xml
View File

@ -4,7 +4,7 @@
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1
shared/uavobjectdefinition/systemalarms.xml
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@ -15,6 +15,7 @@
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>Airspeed</elementname>
<elementname>Stabilization</elementname>
<elementname>Guidance</elementname>
<elementname>PathPlan</elementname>