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APM: keep the time of the last heartbeat message

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this will be used for failsafe processing
This commit is contained in:
Andrew Tridgell 2012-08-14 16:55:45 +10:00
parent 0584017aff
commit 8cb55eb75a
2 changed files with 5 additions and 1 deletions
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4
ArduPlane/ArduPlane.pde
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@ -368,6 +368,10 @@ static bool ch3_failsafe;
static byte crash_timer;
// A timer used to track how long since we have received the last GCS heartbeat or rc override message
static uint32_t rc_override_fs_timer = 0;
// the time when the last HEARTBEAT message arrived from a GCS
static uint32_t last_heartbeat_ms;
// A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal
static uint32_t ch3_failsafe_timer = 0;

2
ArduPlane/GCS_Mavlink.pde
View File

@ -1657,7 +1657,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if(msg->sysid != g.sysid_my_gcs) break;
rc_override_fs_timer = millis();
last_heartbeat_ms = rc_override_fs_timer = millis();
pmTest1++;
break;
}