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IMU disable fault #213

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Merged
dhacks541 merged 1 commit into from
Mar 10, 2025
Merged

IMU disable fault #213

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4 changes: 2 additions & 2 deletions .github/workflows/test_code.yml
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Expand Up @@ -12,13 +12,13 @@ jobs:
steps:
- uses: actions/checkout@v2
- name: Cache pip
uses: actions/cache@v2
uses: actions/cache@v4
with:
path: ~/.cache/pip
key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
restore-keys: ${{ runner.os }}-pip-
- name: Cache PlatformIO
uses: actions/cache@v2
uses: actions/cache@v4
with:
path: ~/.platformio
key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
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1 change: 1 addition & 0 deletions src/Faults.cpp
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Expand Up @@ -14,6 +14,7 @@ namespace fault_groups {
Fault *gyro_y_average = new Fault(0x6009);
Fault *gyro_z_value = new Fault(0x6010);
Fault *gyro_z_average = new Fault(0x6011);
Fault *imu_disable = new Fault(0x6012);
} // namespace imu_faults
namespace power_faults {
Fault *temp_c_value = new Fault(0x6020);
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1 change: 1 addition & 0 deletions src/Faults.hpp
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Expand Up @@ -17,6 +17,7 @@ namespace fault_groups {
extern Fault *gyro_y_average;
extern Fault *gyro_z_value;
extern Fault *gyro_z_average;
extern Fault *imu_disable;
} // namespace imu_faults
namespace power_faults {
extern Fault *temp_c_value;
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2 changes: 1 addition & 1 deletion src/Monitors/IMUMonitor.cpp
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Expand Up @@ -36,7 +36,7 @@ void IMUMonitor::execute()
sfr::imu::power_setting = (uint8_t)sensor_power_mode_type::do_nothing;
}

if (sfr::imu::power_setting == (uint8_t)sensor_power_mode_type::on && sfr::imu::powered == false) {
if (sfr::imu::power_setting == (uint8_t)sensor_power_mode_type::on && sfr::imu::powered == false && !fault_groups::imu_faults::imu_disable->get_base()) {
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@Duncan-McD Duncan-McD Mar 8, 2025 •
edited
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at its core, this does not need to be a fault because the fault is not being signaled by any conditions inside automation and is only controlled through manual force/suppress (making it functionally equivalent to a boolean SFR field).

However, since the use case for setting this flag to high is when the system is in an off-nominal state, keeping this flag designated as a fault is not causing any harm and in fact my provide some situational awareness to operators. The only clear negative with this approach is that the fault takes up more space in the serialized telemetry packet than the SFR bool would (since bools are packed as much as possible down to 1 bit, while faults are packed down to 4 control bits)

Regardless, since its only a few extra bits in telemetry and since you've verifed this functionality on HITL pretty thoroughly, I feel that going with the fault is okay

Edit: telemetry size is actually irrelevant if we aren't sending it in normal report

#ifdef VERBOSE
Serial.println("Turned on IMU");
#endif
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