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AP_AdvancedFailsafe: move handling of last-seen-SYSID_MYGCS up to GCS base class

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Peter Barker 2021-02-05 13:28:07 +11:00 committed by Andrew Tridgell
parent 77998fb5ba
commit 5d686b9cb1
2 changed files with 3 additions and 2 deletions
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3
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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@ -164,7 +164,7 @@ const AP_Param::GroupInfo AP_AdvancedFailsafe::var_info[] = {
// check for Failsafe conditions. This is called at 10Hz by the main // check for Failsafe conditions. This is called at 10Hz by the main
// ArduPlane code // ArduPlane code
void void
AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms) AP_AdvancedFailsafe::check(bool geofence_breached, uint32_t last_valid_rc_ms)
{ {
if (!_enable) { if (!_enable) {
return; return;
@ -203,6 +203,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
hal.gpio->write(_manual_pin, mode==AFS_MANUAL); hal.gpio->write(_manual_pin, mode==AFS_MANUAL);
} }
const uint32_t last_heartbeat_ms = gcs().sysid_myggcs_last_seen_time_ms();
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000); bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000);
bool gps_lock_ok = ((now - AP::gps().last_fix_time_ms()) < 3000); bool gps_lock_ok = ((now - AP::gps().last_fix_time_ms()) < 3000);

2
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
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@ -75,7 +75,7 @@ public:
bool enabled() { return _enable; } bool enabled() { return _enable; }
// check that everything is OK // check that everything is OK
void check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms); void check(bool geofence_breached, uint32_t last_valid_rc_ms);
// generate heartbeat msgs, so external failsafe boards are happy // generate heartbeat msgs, so external failsafe boards are happy
// during sensor calibration // during sensor calibration