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mc_pos_control: limit flight task init failure printf's

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There were cases where the console was continuously spammed with activation
failure messages.
This commit is contained in:
Beat Küng
2018-09-27 13:15:56 +02:00
committed by Lorenz Meier
parent ff69158836
commit 720b3307d8
1 changed files with 20 additions and 6 deletions
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26
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -783,6 +783,7 @@ void
MulticopterPositionControl::start_flight_task()
{
bool task_failure = false;
int prev_failure_count = _task_failure_count;
// offboard
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
@@ -795,7 +796,9 @@ MulticopterPositionControl::start_flight_task()
int error = _flight_tasks.switchTask(FlightTaskIndex::Offboard);
if (error != 0) {
PX4_WARN("Offboard activation failded with error: %s", _flight_tasks.errorToString(error));
if (prev_failure_count == 0) {
PX4_WARN("Offboard activation failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true;
_task_failure_count++;
@@ -810,7 +813,9 @@ MulticopterPositionControl::start_flight_task()
int error = _flight_tasks.switchTask(FlightTaskIndex::AutoFollowMe);
if (error != 0) {
PX4_WARN("Follow-Me activation failed with error: %s", _flight_tasks.errorToString(error));
if (prev_failure_count == 0) {
PX4_WARN("Follow-Me activation failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true;
_task_failure_count++;
@@ -824,7 +829,9 @@ MulticopterPositionControl::start_flight_task()
int error = _flight_tasks.switchTask(FlightTaskIndex::AutoLine);
if (error != 0) {
PX4_WARN("Auto activation failed with error: %s", _flight_tasks.errorToString(error));
if (prev_failure_count == 0) {
PX4_WARN("Auto activation failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true;
_task_failure_count++;
@@ -858,7 +865,9 @@ MulticopterPositionControl::start_flight_task()
}
if (error != 0) {
PX4_WARN("Position-Ctrl activation failed with error: %s", _flight_tasks.errorToString(error));
if (prev_failure_count == 0) {
PX4_WARN("Position-Ctrl activation failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true;
_task_failure_count++;
@@ -873,7 +882,9 @@ MulticopterPositionControl::start_flight_task()
int error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
if (error != 0) {
PX4_WARN("Altitude-Ctrl activation failed with error: %s", _flight_tasks.errorToString(error));
if (prev_failure_count == 0) {
PX4_WARN("Altitude-Ctrl activation failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true;
_task_failure_count++;
@@ -889,7 +900,9 @@ MulticopterPositionControl::start_flight_task()
int error = _flight_tasks.switchTask(FlightTaskIndex::ManualStabilized);
if (error != 0) {
PX4_WARN("Stabilized-Ctrl failed with error: %s", _flight_tasks.errorToString(error));
if (prev_failure_count == 0) {
PX4_WARN("Stabilized-Ctrl failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true;
_task_failure_count++;
@@ -1136,6 +1149,7 @@ void MulticopterPositionControl::check_failure(bool task_failure, uint8_t nav_st
// tell commander to switch mode
PX4_WARN("Previous flight task failed, switching to mode %d", nav_state);
send_vehicle_cmd_do(nav_state);
_task_failure_count = 0; // avoid immediate resending of a vehicle command in the next iteration
}
}