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AP_RangeFinder: fix Lua timeout

This commit is contained in:
Clyde McQueen 2024-04-16 14:49:32 -07:00 committed by Andrew Tridgell
parent d27e724df8
commit 2c5ea71c38
1 changed files with 11 additions and 10 deletions
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11
libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp
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@ -48,16 +48,11 @@ bool AP_RangeFinder_Lua::handle_script_msg(float dist_m) {
WITH_SEMAPHORE(_sem); WITH_SEMAPHORE(_sem);
// Time out on incoming data; if we don't get new data in 500ms, dump it
if (now - _state_pending.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
set_status(_state_pending, RangeFinder::Status::NoData);
} else {
_state_pending.last_reading_ms = now; _state_pending.last_reading_ms = now;
_state_pending.distance_m = dist_m; _state_pending.distance_m = dist_m;
_state_pending.signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN; _state_pending.signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN;
_state_pending.voltage_mv = 0; _state_pending.voltage_mv = 0;
update_status(_state_pending); update_status(_state_pending);
}
return true; return true;
} }
@ -66,6 +61,12 @@ bool AP_RangeFinder_Lua::handle_script_msg(float dist_m) {
void AP_RangeFinder_Lua::update(void) void AP_RangeFinder_Lua::update(void)
{ {
WITH_SEMAPHORE(_sem); WITH_SEMAPHORE(_sem);
// Time out on incoming data
if (_state_pending.status != RangeFinder::Status::NotConnected &&
AP_HAL::millis() - _state_pending.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
set_status(_state_pending, RangeFinder::Status::NoData);
}
state = _state_pending; state = _state_pending;
} }