px4io: servorail_status -> px4io_status and log all flags #15356
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dagar
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Possibly related #15347. |
julianoes
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Jul 17, 2020
| status.status_safety_off = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF; | ||
| status.status_fmu_initialized = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED; | ||
| status.status_rc_st24 = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_ST24; | ||
| status.status_rc_sumd = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SUMD; |
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As an alternative you could just log the status int as such. What do you think?
I'm just thinking that we might want to change that interface soon as we remove all the mixer stuff on the IO side.
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I don't think it will get in the way as it's only for monitoring/logging and I don't have any plans to tie this message into the core state machine. At the more general mixer module level I'd like to centralize the status/health reporting so that we can lock it into the state machine.
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julianoes
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This expands the px4io published
servorail_statusmessage into a more generalpx4io_statusand adds most of the useful status, alarm, input, output fields as self descriptive fields (ie booleans for bits).Storing just the flags would obviously be more efficient, but we were already paying for the flash to decode and print them in
px4io statusand there's no real mechanism to properly define bits in uORB messages, so they end up poorly defined or ignored in tools or review. This makes it accessible, self describing, and as useful as px4io status, but in all regular logs.The message is published at 1 Hz or immediately on any status or alarm change.