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AP_OpenDroneID: prevent sending of lost transmitter msg too fast

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This commit is contained in:
Andrew Tridgell 2022-08-09 14:58:47 +10:00
parent 0e037c99f3
commit 74a66ede95
2 changed files with 5 additions and 1 deletions
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3
libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
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@ -171,7 +171,8 @@ void AP_OpenDroneID::send_static_out()
const uint32_t now_ms = AP_HAL::millis(); const uint32_t now_ms = AP_HAL::millis();
// we need to notify user if we lost the transmitter // we need to notify user if we lost the transmitter
if (now_ms - last_arm_status_ms > 5000) { if (now_ms - last_arm_status_ms > 5000 && now_ms - last_lost_tx_ms > 5000) {
last_lost_tx_ms = now_ms;
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "ODID: lost transmitter"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "ODID: lost transmitter");
} }

3
libraries/AP_OpenDroneID/AP_OpenDroneID.h
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@ -142,6 +142,9 @@ private:
mavlink_open_drone_id_arm_status_t arm_status; mavlink_open_drone_id_arm_status_t arm_status;
uint32_t last_arm_status_ms; uint32_t last_arm_status_ms;
// last time we sent a lost transmitter message
uint32_t last_lost_tx_ms;
// transmit functions to manually send a static MAVLink message // transmit functions to manually send a static MAVLink message
void send_dynamic_out(); void send_dynamic_out();
void send_static_out(); void send_static_out();