Skip to content

Report UNCALIBRATED sensors in status #11910

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Raffi1202 wants to merge 1 commit into
base: maintenance-10.x
Choose a base branch
from
+20 −3
Open

Report UNCALIBRATED sensors in status #11910

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 20 additions & 3 deletions src/main/fc/cli.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -254,6 +254,17 @@ static const char * const hardwareSensorStatusNames[] = {
"NONE", "OK", "UNAVAILABLE", "FAILING"
};

// A sensor that is detected and healthy, but has never been calibrated, is reported as
// UNCALIBRATED. Every other state is reported exactly as hardwareSensorStatus_e defines it.
static const char * hardwareSensorStatusName(hardwareSensorStatus_e status, bool isCalibrated)
{
if ((status == HW_SENSOR_OK) && !isCalibrated) {
return "UNCALIBRATED";
}

return hardwareSensorStatusNames[status];
}

static const char * const *sensorHardwareNames[] = {
gyroNames,
table_acc_hardware,
Expand Down Expand Up @@ -4184,10 +4195,16 @@ static void cliStatus(char *cmdline)
#endif // for if at32
#endif // for SITL

#ifdef USE_MAG
const bool compassIsCalibrated = compassIsCalibrationComplete();
#else
const bool compassIsCalibrated = true;
#endif

cliPrintLinef("Sensor status: GYRO=%s, ACC=%s, MAG=%s, BARO=%s, RANGEFINDER=%s, OPFLOW=%s, PITOT=%s, GPS=%s",
hardwareSensorStatusNames[getHwGyroStatus()],
hardwareSensorStatusNames[getHwAccelerometerStatus()],
hardwareSensorStatusNames[getHwCompassStatus()],
hardwareSensorStatusName(getHwGyroStatus(), gyroIsCalibrationComplete()),
hardwareSensorStatusName(getHwAccelerometerStatus(), STATE(ACCELEROMETER_CALIBRATED)),
hardwareSensorStatusName(getHwCompassStatus(), compassIsCalibrated),
hardwareSensorStatusNames[getHwBarometerStatus()],
hardwareSensorStatusNames[getHwRangefinderStatus()],
hardwareSensorStatusNames[getHwOpticalFlowStatus()],
Expand Down