Added inertial sensor consistency checking for LUA access #26162
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
bugobliterator
approved these changes
Feb 7, 2024
bugobliterator
force-pushed
the
pr-add-consistency-scripting
branch
from
93ceb66 to
06d1beb
Compare
tridge
approved these changes
Feb 7, 2024
bugobliterator
force-pushed
the
pr-add-consistency-scripting
branch
from
06d1beb to
ff2dcf2
Compare
IamPete1
reviewed
Feb 7, 2024
IamPete1
reviewed
Feb 7, 2024
There was a problem hiding this comment.
Passing in the threshold is a a little odd because it updates the last_pass_ms. This means a script could block arming if it kept checking with a smaller threshold.
I think the IMU method should be a const pass/fail with threshold. The caller (arming or scripting) can then do the time consistency bit.
You could always get round the same problem by hard coding the threshold of course.
I think there are enough bindings that this check could be done 100% in the scripting?
haydendonald
force-pushed
the
pr-add-consistency-scripting
branch
from
fd52c1c to
a32e2a8
Compare
bugobliterator
force-pushed
the
pr-add-consistency-scripting
branch
from
a32e2a8 to
c880372
Compare
IamPete1
approved these changes
Feb 8, 2024
Move the accel_consistent and gyro_consistent methods from AP_Arming to AP_IntertialSensor
Move the accel_consistent and gyro_consistent methods from AP_Arming to AP_IntertialSensor
Added the accels_consistent and gyros_consistent methods to the lua bindings
bugobliterator
force-pushed
the
pr-add-consistency-scripting
branch
from
c880372 to
2b332ac
Compare
Rebased. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Added ins:gyros_consistent(threshold, consistency_seconds) and ins:accels_consistent(threshold, consistency_seconds) for access to LUA for our testing requirements.
With this i also moved ins_accels_consistent and ins_gyros_consistent from AP_Arming to AP_IntertialSensor as i feel that this makes more sense. If this was still in AP_Arming you would need to pass the ins to the function via scripting which i'm not entirely sure how to do.
I also added the threshold and consistency_seconds to be parameters as they were hard coded previously and we need to be sensitive via scripting.