AP_ExternalAHRS: Provide warning for init failure #26601
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Ryanf55
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Looks like if the device is not connected, you get the warning of Do you have any way we could send multiple failures for the pre-arm check? Here's the behavior of what's currently pushed when the MicroStrain device is disconnected. |
| @@ -238,7 +238,6 @@ bool AP_ExternalAHRS::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) | |||
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| if (!state.have_origin) { | |||
| hal.util->snprintf(failure_msg, failure_msg_len, "ExternalAHRS: No origin"); | |||
| return false; | |||
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Doesn't this failure get lost now?
Maybe it would be better to re-order so that the backend pre-arms come before the origin check?
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Doesn't this failure get lost now?
Maybe it would be better to re-order so that the backend pre-arms come before the origin check?
Yea, a re-order would solve it. The origin problem is likely to make the other ones get lost.
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Yea, totally. I re-ordered it, and it works great now! Easy fix.
* If the device hasn't initialized in 5 seconds, give a warning Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* Add generic health and time utils * Fix bug only checking first GNSS system * Use common logging struct * Improve pre-arm log checks Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
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* This allows the backend to report more detailed errors * Before this, many pre-arm errors were hidden by origin failure * If pre-arm could report multiple errors, that would be ideal Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
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This is included in 4.5.2-beta1 |
Purpose
No cable connected
Cable connected and data streaming configured
Other thoughts
perhaps we should keep track of the initialization state, and give a success when it changes to true (event-based)? I did this in a follow up commit. If the devs like it, I'll squash it together. Pete suggested reordering the pre-arm checks to check the backend before verifying the origin. I liked it, so that's incorporated.