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Rover: gcs fs not triggered if rc-overrides arrive 

also not triggered if manual-control messages arrive
also minor restructure of gcs_failsafe_check (non-functional)
also remove unnecessary failsafe_trigger call when heartbeats arrive
This commit is contained in:
Randy Mackay 2018-10-31 14:27:56 +09:00
parent 047f704236
commit 6167e6ac0b
2 changed files with 11 additions and 5 deletions
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8
APMrover2/APMrover2.cpp
View File

@ -196,9 +196,13 @@ void Rover::ahrs_update()
*/
void Rover::gcs_failsafe_check(void)
{
if (g.fs_gcs_enabled) {
failsafe_trigger(FAILSAFE_EVENT_GCS, failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000);
if (!g.fs_gcs_enabled) {
// gcs failsafe disabled
return;
}
// check for updates from GCS within 2 seconds
failsafe_trigger(FAILSAFE_EVENT_GCS, failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000);
}
/*

8
APMrover2/GCS_Mavlink.cpp
View File

@ -780,6 +780,8 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
RC_Channels::set_override(6, packet.chan7_raw, tnow);
RC_Channels::set_override(7, packet.chan8_raw, tnow);
// an RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
rover.failsafe.last_heartbeat_ms = tnow;
break;
}
@ -803,18 +805,18 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
RC_Channels::set_override(uint8_t(rover.rcmap.roll() - 1), roll, tnow);
RC_Channels::set_override(uint8_t(rover.rcmap.throttle() - 1), throttle, tnow);
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
rover.failsafe.last_heartbeat_ms = tnow;
break;
}
case MAVLINK_MSG_ID_HEARTBEAT:
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
// we keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if (msg->sysid != rover.g.sysid_my_gcs) {
break;
}
rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break;
}