Accelerometer and Gyroscope sensor status

maghob · February 24, 2022, 4:15pm

Hi everyone,

I am working on some integration of PX4 autopilot and I have a question about the state of the following sensors

When I received the mavlink message SYS_STATUS, these two sensors are neither present and nor enabled however the health state is Good.
Here is the value I am receiving

[id: 1]
onboard_control_sensors_present:  false
onboard_control_sensors_enabled: false
onboard_control_sensors_health: true
------------
[id: 2]
onboard_control_sensors_present: false
onboard_control_sensors_enabled: false
onboard_control_sensors_health: true

I looked a bit in the source code (tag: v1.12.3) and I found that subsystem_info_s::SUBSYSTEM_TYPE_ACC and subsystem_info_s::SUBSYSTEM_TYPE_GYRO
are used for updating only the health key by using the set_health_flags_healthy method

github.com

PX4/PX4-Autopilot/blob/v1.12.3/src/modules/commander/Arming/HealthFlags/HealthFlags.cpp#L77

    
      
          		status.onboard_control_sensors_health &= ~(uint32_t)subsystem_type;
          	}
          }
          
          
void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status)
          {
          	set_health_flags(subsystem_type, present, status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy,
          			 status);
          }
          
          
void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status)
          {
          	set_health_flags(subsystem_type, status.onboard_control_sensors_present & (uint32_t)subsystem_type,
          			 status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy, status);
          }
          
          
void _print_sub(const char *name, const vehicle_status_s &status, uint32_t bit)
          {
          	PX4_INFO("%s:\t\t%s\t%s", name,
          		 (status.onboard_control_sensors_enabled & bit) ? "EN" : " ",
          		 (status.onboard_control_sensors_present & bit) ?

Why the update of enable and present is not done as well ?
Is that an issue or I am misunderstanding the SYS_STATUS mavlink message ?

Thanks for your answer
Cheers
Mahmoud