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APM-134: Secondary Mag health#219

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dat-tran-matternet merged 2 commits intomttr-rebase-4.0from
feature/APM-134_secondary-mag-health
Jan 20, 2022
Merged

APM-134: Secondary Mag health#219
dat-tran-matternet merged 2 commits intomttr-rebase-4.0from
feature/APM-134_secondary-mag-health

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@dat-tran-matternet dat-tran-matternet commented Jan 12, 2022

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dat-tran-matternet commented Jan 12, 2022

Preliminary review. Not tested yet.

zalice
zalice reviewed Jan 12, 2022
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libraries/AP_Compass/AP_Compass.h

/// Return the health of a compass
bool healthy(uint8_t i) const { return _get_state(Priority(i)).healthy; }
bool healthy(void) const { return healthy(0); }
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Is this function used in contexts that check whether the primary compass is healthy? If so, would it make sense to avoid touching that logic and write an all_healthy() function instead?

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@zalice zalice Jan 12, 2022 •
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Actually, looking at the code again now I don't think this change to healthy() is needed because the healthy mask that gets reported in the named value int you added doesn't use this, right?

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@dat-tran-matternet dat-tran-matternet Jan 12, 2022 •
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This function "compass.healthy()" is used in arming check and in the system status sensor_health. If any one compass is down it will be 0/false. At the same time, a new NAMED_INT_VALUE is sent COMPHEALTH which is also a bitmask where the bit is the health of each compass.

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@dat-tran-matternet dat-tran-matternet Jan 12, 2022 •
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Here are all the places that uses "compass.healthy()"
Do we require all of those use cases to require all compass to be healthy? That was my assumption with this PR.

https://github.com/matternet/ardupilot/blob/mttr-rebase-4.0/ArduCopter/AP_Arming.cpp#L620
https://github.com/matternet/ardupilot/blob/mttr-rebase-4.0/ArduCopter/Log.cpp#L268
https://github.com/matternet/ardupilot/blob/mttr-rebase-4.0/libraries/AP_Arming/AP_Arming.cpp#L394
https://github.com/matternet/ardupilot/blob/mttr-rebase-4.0/libraries/GCS_MAVLink/GCS.cpp#L137

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@dat-tran-matternet You're right -- we require all compasses to be healthy in each of those cases. Thank you for clarifying 👍

@dat-tran-matternet dat-tran-matternet merged commit 7ffde16 into mttr-rebase-4.0 Jan 20, 2022
@dat-tran-matternet dat-tran-matternet deleted the feature/APM-134_secondary-mag-health branch January 20, 2022 21:42
rabad-matternet added a commit that referenced this pull request Feb 15, 2022
@rabad-matternet @dat-tran-matternet
@tridge @zalice
APM-138 Add SBAS disable option for test (#222)
66b6141 
* APM-124: Change bootloader serial port to SERIAL_1 from SERIAL_5

The Flight Management Computer (FMC) connects to Ardupilot on SERIAL_1.
This changes the booloader serial port from SERIAL_5 to SERIAL_1 so
the FMC can update the Ardupilot's firmware using uploader.py.

* APM-134: Secondary Mag health (#219)

* APM-134: Secondary Mag health

* AP_Compass: added register checking for AK09916 mode

this allows AK09916 on I2C to recover from a power outage in flight

* APM-138 Add SBAS disable option for test
- added option to disable SBAS for GPS1, GPS2, or both
- SBAS disabled via RC
- add GNSS param defaults

* AP_GPS: fixed switch to incorrect GPS from blended (#223)

* AP_GPS: fixed switch to incorrect GPS from blended

new GPS could have been about to time out

* Bugfix/apm 144 gps2 low sats alert (#226)

* AP_NavEKF2 AP_NavEKF3: Fix set alert for GPS1 and GPS2 in sat check

Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>

* updated output to properly report SBAS status

Co-authored-by: Dat Tran <dat.tran@matternet.us>
Co-authored-by: dat-tran-matternet <79175627+dat-tran-matternet@users.noreply.github.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>
Co-authored-by: Alice Zielman <alice@matternet.us>
adriennet823 pushed a commit that referenced this pull request Jun 5, 2023
@rabad-matternet @dat-tran-matternet
@tridge @zalice @adriennet823
APM-138 Add SBAS disable option for test (#222)
4ba693f 
* APM-124: Change bootloader serial port to SERIAL_1 from SERIAL_5

The Flight Management Computer (FMC) connects to Ardupilot on SERIAL_1.
This changes the booloader serial port from SERIAL_5 to SERIAL_1 so
the FMC can update the Ardupilot's firmware using uploader.py.

* APM-134: Secondary Mag health (#219)

* APM-134: Secondary Mag health

* AP_Compass: added register checking for AK09916 mode

this allows AK09916 on I2C to recover from a power outage in flight

* APM-138 Add SBAS disable option for test
- added option to disable SBAS for GPS1, GPS2, or both
- SBAS disabled via RC
- add GNSS param defaults

* AP_GPS: fixed switch to incorrect GPS from blended (#223)

* AP_GPS: fixed switch to incorrect GPS from blended

new GPS could have been about to time out

* Bugfix/apm 144 gps2 low sats alert (#226)

* AP_NavEKF2 AP_NavEKF3: Fix set alert for GPS1 and GPS2 in sat check

Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>

* updated output to properly report SBAS status

Co-authored-by: Dat Tran <dat.tran@matternet.us>
Co-authored-by: dat-tran-matternet <79175627+dat-tran-matternet@users.noreply.github.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>
Co-authored-by: Alice Zielman <alice@matternet.us>
adriennet823 pushed a commit that referenced this pull request Jun 5, 2023
@rabad-matternet @dat-tran-matternet
@tridge @zalice @adriennet823
APM-138 Add SBAS disable option for test (#222)
9bf060c 
* APM-124: Change bootloader serial port to SERIAL_1 from SERIAL_5

The Flight Management Computer (FMC) connects to Ardupilot on SERIAL_1.
This changes the booloader serial port from SERIAL_5 to SERIAL_1 so
the FMC can update the Ardupilot's firmware using uploader.py.

* APM-134: Secondary Mag health (#219)

* APM-134: Secondary Mag health

* AP_Compass: added register checking for AK09916 mode

this allows AK09916 on I2C to recover from a power outage in flight

* APM-138 Add SBAS disable option for test
- added option to disable SBAS for GPS1, GPS2, or both
- SBAS disabled via RC
- add GNSS param defaults

* AP_GPS: fixed switch to incorrect GPS from blended (#223)

* AP_GPS: fixed switch to incorrect GPS from blended

new GPS could have been about to time out

* Bugfix/apm 144 gps2 low sats alert (#226)

* AP_NavEKF2 AP_NavEKF3: Fix set alert for GPS1 and GPS2 in sat check

Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>

* updated output to properly report SBAS status

Co-authored-by: Dat Tran <dat.tran@matternet.us>
Co-authored-by: dat-tran-matternet <79175627+dat-tran-matternet@users.noreply.github.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>
Co-authored-by: Alice Zielman <alice@matternet.us>
adriennet823 pushed a commit that referenced this pull request Jan 3, 2025
@rabad-matternet @dat-tran-matternet
@tridge @zalice @adriennet823
APM-138 Add SBAS disable option for test (#222)
d0a5a62 
* APM-124: Change bootloader serial port to SERIAL_1 from SERIAL_5

The Flight Management Computer (FMC) connects to Ardupilot on SERIAL_1.
This changes the booloader serial port from SERIAL_5 to SERIAL_1 so
the FMC can update the Ardupilot's firmware using uploader.py.

* APM-134: Secondary Mag health (#219)

* APM-134: Secondary Mag health

* AP_Compass: added register checking for AK09916 mode

this allows AK09916 on I2C to recover from a power outage in flight

* APM-138 Add SBAS disable option for test
- added option to disable SBAS for GPS1, GPS2, or both
- SBAS disabled via RC
- add GNSS param defaults

* AP_GPS: fixed switch to incorrect GPS from blended (#223)

* AP_GPS: fixed switch to incorrect GPS from blended

new GPS could have been about to time out

* Bugfix/apm 144 gps2 low sats alert (#226)

* AP_NavEKF2 AP_NavEKF3: Fix set alert for GPS1 and GPS2 in sat check

Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>

* updated output to properly report SBAS status

Co-authored-by: Dat Tran <dat.tran@matternet.us>
Co-authored-by: dat-tran-matternet <79175627+dat-tran-matternet@users.noreply.github.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: zalice <48697569+zalice@users.noreply.github.com>
Co-authored-by: Alice Zielman <alice@matternet.us>
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