sensors/vehicle_imu: periodically send mavlink critical message if clipping

Author: dagar

src/modules/sensors/vehicle_imu/VehicleIMU.cpp

@@ -34,6 +34,7 @@
 #include "VehicleIMU.hpp"
 
 #include <px4_platform_common/log.h>
+#include <lib/systemlib/mavlink_log.h>
 
 #include <float.h>
 
@@ -326,6 +327,17 @@ void VehicleIMU::Run()
 			}
 
 			publish_status = true;
+
+			// start notifying the user periodically if there's significant continuous clipping
+			const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
+
+			if ((hrt_elapsed_time(&_last_clipping_notify_time) > 3_s)
+			    && (clipping_total > _last_clipping_notify_total_count + 10)) {
+
+				mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, land immediately!", _instance);
+				_last_clipping_notify_time = accel.timestamp_sample;
+				_last_clipping_notify_total_count = clipping_total;
+			}
 		}
 
 		// break once caught up to gyro

src/modules/sensors/vehicle_imu/VehicleIMU.hpp

@@ -129,6 +129,10 @@ class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem
 
 	uint8_t _delta_velocity_clipping{0};
 
+	hrt_abstime _last_clipping_notify_time{0};
+	uint64_t _last_clipping_notify_total_count{0};
+	orb_advert_t _mavlink_log_pub{nullptr};
+
 	bool _intervals_configured{false};
 
 	const uint8_t _instance;