From 0a236bc13d2366e460dbc2a2a80506f61cd38ba1 Mon Sep 17 00:00:00 2001
From: nkruzan <nickkruzan@gmail.com>
Date: Sat, 28 Aug 2021 11:18:07 -0500
Subject: [PATCH] AP_Vehicle: log internal error and report bitmask to GCS

AP_Vehicle.cpp: cast parameter bitmask as (unsigned) per Peter B.

rework per Peter B.

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
remove unnecessary send_internal_error_statustext function

remove Write_InternalError function
---
 libraries/AP_Logger/AP_Logger.h     | 3 +++
 libraries/AP_Vehicle/AP_Vehicle.cpp | 6 ++++++
 libraries/AP_Vehicle/AP_Vehicle.h   | 2 ++
 3 files changed, 11 insertions(+)

diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index 1251bafef7290..7b28e4ee72698 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -200,6 +200,7 @@ enum class LogErrorSubsystem : uint8_t {
     FAILSAFE_LEAK = 27,
     PILOT_INPUT = 28,
     FAILSAFE_VIBE = 29,
+    INTERNAL_ERROR = 30,
 };
 
 // bizarrely this enumeration has lots of duplicate values, offering
@@ -229,6 +230,8 @@ enum class LogErrorCode : uint8_t {
     FAILED_CIRCLE_INIT = 4,
     DEST_OUTSIDE_FENCE = 5,
     RTL_MISSING_RNGFND = 6,
+    // subsystem specific error codes -- internal_error
+    INTERNAL_ERRORS_DETECTED = 1,
 
 // parachute failed to deploy because of low altitude or landed
     PARACHUTE_TOO_LOW = 2,
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 28d2224cdcea8..24644c4726dbc 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -199,6 +199,12 @@ void AP_Vehicle::loop()
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s", banner_msg);
         }
     }
+    const uint32_t new_internal_errors = AP::internalerror().errors();
+    if(_last_internal_errors != new_internal_errors) {
+        AP::logger().Write_Error(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED);
+        gcs().send_text(MAV_SEVERITY_CRITICAL, "Internal Errors %x", (unsigned)new_internal_errors);
+        _last_internal_errors = new_internal_errors;
+    }
 }
 
 /*
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index e87a1cead90ec..155d0356664d9 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -373,6 +373,8 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     static AP_Vehicle *_singleton;
 
     bool done_safety_init;
+
+    uint32_t _last_internal_errors;  // backup of AP_InternalError::internal_errors bitmask
 };
 
 namespace AP {