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

This commit is contained in:
Peter Barker 2021-04-01 19:46:02 +11:00 committed by Andrew Tridgell
parent c064e09806
commit d822499155
4 changed files with 7 additions and 21 deletions
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2
Blimp/Blimp.h
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@ -212,8 +212,6 @@ private:
// Failsafe // Failsafe
struct { struct {
uint32_t last_heartbeat_ms; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
int8_t radio_counter; // number of iterations with throttle below throttle_fs_value int8_t radio_counter; // number of iterations with throttle below throttle_fs_value
uint8_t radio : 1; // A status flag for the radio failsafe uint8_t radio : 1; // A status flag for the radio failsafe

16
Blimp/GCS_Mavlink.cpp
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@ -477,13 +477,6 @@ void GCS_MAVLINK_Blimp::send_banner()
send_text(MAV_SEVERITY_INFO, "Frame: %s", blimp.get_frame_string()); send_text(MAV_SEVERITY_INFO, "Frame: %s", blimp.get_frame_string());
} }
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Blimp::handle_rc_channels_override(const mavlink_message_t &msg)
{
blimp.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg);
}
MAV_RESULT GCS_MAVLINK_Blimp::_handle_command_preflight_calibration(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK_Blimp::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{ {
return GCS_MAVLINK::_handle_command_preflight_calibration(packet); return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
@ -638,15 +631,6 @@ void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg)
{ {
switch (msg.msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: { // MAV ID: 0
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if (msg.sysid != blimp.g.sysid_my_gcs) {
break;
}
blimp.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
// #if MODE_GUIDED_ENABLED == ENABLED // #if MODE_GUIDED_ENABLED == ENABLED
// case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82 // case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82
// { // {

1
Blimp/GCS_Mavlink.h
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@ -49,7 +49,6 @@ private:
void handleMessage(const mavlink_message_t &msg) override; void handleMessage(const mavlink_message_t &msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override; bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
void handle_rc_channels_override(const mavlink_message_t &msg) override;
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status, void packetReceived(const mavlink_status_t &status,

9
Blimp/events.cpp
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@ -91,13 +91,18 @@ void Blimp::handle_battery_failsafe(const char *type_str, const int8_t action)
void Blimp::failsafe_gcs_check() void Blimp::failsafe_gcs_check()
{ {
// Bypass GCS failsafe checks if disabled or GCS never connected // Bypass GCS failsafe checks if disabled or GCS never connected
if (g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0) { if (g.failsafe_gcs == FS_GCS_DISABLED) {
return; return;
} }
const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
if (gcs_last_seen_ms == 0) {
return;
}
// calc time since last gcs update // calc time since last gcs update
// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs // note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
const uint32_t last_gcs_update_ms = millis() - failsafe.last_heartbeat_ms; const uint32_t last_gcs_update_ms = millis() - gcs_last_seen_ms;
const uint32_t gcs_timeout_ms = uint32_t(constrain_float(g2.fs_gcs_timeout * 1000.0f, 0.0f, UINT32_MAX)); const uint32_t gcs_timeout_ms = uint32_t(constrain_float(g2.fs_gcs_timeout * 1000.0f, 0.0f, UINT32_MAX));
// Determine which event to trigger // Determine which event to trigger