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Code Issues Releases Activity

alarms: Add alarm for AHRS Communications

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The AHRSComms alarm will be raised whenever the OP board
is not able to communicate with the AHRS board.

The navigation software on the OP board could use this
alarm to trigger its best attempt at an emergency landing.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1002 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-07-04 02:21:11 +00:00 committed by stac
parent 71e491e3c1
commit b084fc4be5
5 changed files with 13 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
flight/OpenPilot/UAVObjects/inc/systemalarms.h
View File

@ -33,7 +33,7 @@
#define SYSTEMALARMS_H
// Object constants
#define SYSTEMALARMS_OBJID 2311311520U
#define SYSTEMALARMS_OBJID 2311311584U
#define SYSTEMALARMS_NAME "SystemAlarms"
#define SYSTEMALARMS_METANAME "SystemAlarmsMeta"
#define SYSTEMALARMS_ISSINGLEINST 1
@ -57,7 +57,7 @@
// Object data
typedef struct {
uint8_t Alarm[9];
uint8_t Alarm[10];
} __attribute__((packed)) SystemAlarmsData;
@ -66,9 +66,9 @@ typedef struct {
/* Enumeration options for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3, } SystemAlarmsAlarmOptions;
/* Array element names for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, } SystemAlarmsAlarmElem;
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, SYSTEMALARMS_ALARM_AHRSCOMMS=9, } SystemAlarmsAlarmElem;
/* Number of elements for field Alarm */
#define SYSTEMALARMS_ALARM_NUMELEM 9
#define SYSTEMALARMS_ALARM_NUMELEM 10
// Generic interface functions

1
ground/src/plugins/uavobjects/systemalarms.cpp
View File

@ -50,6 +50,7 @@ SystemAlarms::SystemAlarms(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAM
AlarmElemNames.append("ManualControl");
AlarmElemNames.append("Actuator");
AlarmElemNames.append("Stabilization");
AlarmElemNames.append("AHRSComms");
QStringList AlarmEnumOptions;
AlarmEnumOptions.append("OK");
AlarmEnumOptions.append("Warning");

8
ground/src/plugins/uavobjects/systemalarms.h
View File

@ -41,7 +41,7 @@ class UAVOBJECTS_EXPORT SystemAlarms: public UAVDataObject
public:
// Field structure
typedef struct {
quint8 Alarm[9];
quint8 Alarm[10];
} __attribute__((packed)) DataFields;
@ -50,13 +50,13 @@ public:
/* Enumeration options for field Alarm */
typedef enum { ALARM_OK=0, ALARM_WARNING=1, ALARM_ERROR=2, ALARM_CRITICAL=3, } AlarmOptions;
/* Array element names for field Alarm */
typedef enum { ALARM_OUTOFMEMORY=0, ALARM_STACKOVERFLOW=1, ALARM_CPUOVERLOAD=2, ALARM_EVENTSYSTEM=3, ALARM_SDCARD=4, ALARM_TELEMETRY=5, ALARM_MANUALCONTROL=6, ALARM_ACTUATOR=7, ALARM_STABILIZATION=8, } AlarmElem;
typedef enum { ALARM_OUTOFMEMORY=0, ALARM_STACKOVERFLOW=1, ALARM_CPUOVERLOAD=2, ALARM_EVENTSYSTEM=3, ALARM_SDCARD=4, ALARM_TELEMETRY=5, ALARM_MANUALCONTROL=6, ALARM_ACTUATOR=7, ALARM_STABILIZATION=8, ALARM_AHRSCOMMS=9, } AlarmElem;
/* Number of elements for field Alarm */
static const quint32 ALARM_NUMELEM = 9;
static const quint32 ALARM_NUMELEM = 10;
// Constants
static const quint32 OBJID = 2311311520U;
static const quint32 OBJID = 2311311584U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;

5
ground/src/plugins/uavobjects/systemalarms.py
View File

@ -40,7 +40,7 @@ _fields = [ \
uavobject.UAVObjectField(
'Alarm',
'b',
9,
10,
[
'OutOfMemory',
'StackOverflow',
@ -51,6 +51,7 @@ _fields = [ \
'ManualControl',
'Actuator',
'Stabilization',
'AHRSComms',
],
{
'0' : 'OK',
@ -64,7 +65,7 @@ _fields = [ \
class SystemAlarms(uavobject.UAVObject):
## Object constants
OBJID = 2311311520
OBJID = 2311311584
NAME = "SystemAlarms"
METANAME = "SystemAlarmsMeta"
ISSINGLEINST = 1

2
ground/src/shared/uavobjectdefinition/systemalarms.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="SystemAlarms" singleinstance="true" settings="false">
<field name="Alarm" units="" type="enum" options="OK,Warning,Error,Critical"
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Stabilization"/>
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Stabilization,AHRSComms"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="4000"/>