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AP_RangeFinder: Notify different alerts #26596

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merged 2 commits into from
Jan 13, 2025
Merged

AP_RangeFinder: Notify different alerts #26596

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2568b76
AP_RangeFinder: Notify different alerts
muramura Mar 23, 2024
827ec2f
AP_RangeFinder: tidy alert sending
peterbarker Jan 1, 2025
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36 changes: 23 additions & 13 deletions libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,9 +74,9 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
#if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
const uint32_t now_ms = AP_HAL::millis();
if (malfunction_alert_prev != malfunction_alert && now_ms - malfunction_alert_last_send_ms >= 1000) {
report_malfunction(malfunction_alert, malfunction_alert_prev);
malfunction_alert_prev = malfunction_alert;
malfunction_alert_last_send_ms = now_ms;
report_malfunction(malfunction_alert);
}
#endif

Expand Down Expand Up @@ -109,18 +109,28 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
}

#if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_) {
if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Temperature)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Temperature alert");
}
if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Voltage)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Voltage alert");
}
if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::IFSignalSaturation)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: IF signal saturation alert");
}
if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::AltitudeReading)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Altitude reading overflow alert");
void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_, const uint8_t _malfunction_alert_prev_)
{
static const struct {
MalfunctionAlert bit;
const char *name;
} alerts[] {
{ MalfunctionAlert::Temperature, "Temperature" },
{ MalfunctionAlert::Voltage, "Voltage" },
{ MalfunctionAlert::IFSignalSaturation, "IF signal saturation" },
{ MalfunctionAlert::AltitudeReading, "Attitude reading overflow" },
};

for (const auto &alert : alerts) {
if ((_malfunction_alert_ & uint8_t(alert.bit)) == 0) {
// alert not current
continue;
}
if ((_malfunction_alert_prev_ & uint8_t(alert.bit)) != 0) {
// alert is not new
continue;
}
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: %s alert", alert.name);
}
}
#endif // AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h
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Expand Up @@ -46,7 +46,7 @@ class AP_RangeFinder_Ainstein_LR_D1 : public AP_RangeFinder_Backend_Serial
// quality is not available
int8_t get_signal_quality_pct() const override { return signal_quality_pct; };

static void report_malfunction(const uint8_t _malfunction_alert_);
static void report_malfunction(const uint8_t _malfunction_alert_, const uint8_t _malfunction_alert_prev_);

enum class MalfunctionAlert : uint8_t {
Temperature = (1U << 0), // 0x01
Expand Down
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