Updated IrisOrca to stop spamming GCS error messages

HavocAI · May 30, 2024 · f10f940 · f10f940
1 parent eb849df
commit f10f940
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/libraries/AP_IrisOrca/AP_IrisOrca.cpp b/libraries/AP_IrisOrca/AP_IrisOrca.cpp
@@ -235,7 +235,10 @@ void AP_IrisOrca::thread_main()
             if (_actuator_state.errors != 0) {
                 // send sleep command if in error state to attempt to clear the error
                 send_actuator_sleep_cmd();
-                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "IrisOrca: Error %i", _actuator_state.errors);
+                if (now_ms - _last_error_report_ms > IRISORCA_ERROR_REPORT_INTERVAL_MAX_MS) {
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "IrisOrca: Error %i", _actuator_state.errors);
+                    _last_error_report_ms = now_ms;
+                }
                 continue;
             }
 
@@ -515,7 +518,7 @@ void AP_IrisOrca::send_actuator_sleep_cmd()
         WITH_SEMAPHORE(_last_healthy_sem);
         _last_send_actuator_ms = AP_HAL::millis();
 
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "IrisOrca: Actuator sleep command sent");
+        // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "IrisOrca: Actuator sleep command sent");
     }
 }
 

diff --git a/libraries/AP_IrisOrca/AP_IrisOrca.h b/libraries/AP_IrisOrca/AP_IrisOrca.h
@@ -367,7 +367,7 @@ class AP_IrisOrca {
     uint32_t _last_send_actuator_ms;    // system time (in millis) last actuator position command was sent (used for health reporting)
     uint32_t _send_start_us;            // system time (in micros) when last message started being sent (used for timing to unset DE pin)
     uint32_t _send_delay_us;            // delay (in micros) to allow bytes to be sent after which pin can be unset.  0 if not delaying
-
+    uint32_t _last_error_report_ms;     // system time (in millis) that last error was reported (used to avoid spamming errors)
 
     // health reporting
     HAL_Semaphore _last_healthy_sem;// semaphore protecting reading and updating of _last_send_actuator_ms and _last_received_ms