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AP_AdvancedFailsafe: make GCS failsafe timeout a parameter

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Ep Pravitra 2023-09-12 15:51:49 +07:00 committed by Andrew Tridgell
parent 8e08a9bdf6
commit db72fd16d4
2 changed files with 9 additions and 1 deletions
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9
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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@ -169,6 +169,13 @@ const AP_Param::GroupInfo AP_AdvancedFailsafe::var_info[] = {
// @Bitmask: 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost)
// @Bitmask: 1: Enable AFS for all autonomous modes (not just AUTO)
AP_GROUPINFO("OPTIONS", 21, AP_AdvancedFailsafe, options, 0),
// @Param: GCS_TIMEOUT
// @DisplayName: GCS timeout
// @Description: The time (in seconds) of persistent data link loss before GCS failsafe occurs.
// @User: Advanced
// @Units: s
AP_GROUPINFO("GCS_TIMEOUT", 22, AP_AdvancedFailsafe, _gcs_fail_time_seconds, 10),
AP_GROUPEND
};
@ -220,7 +227,7 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
const uint32_t last_heartbeat_ms = gcs().sysid_myggcs_last_seen_time_ms();
uint32_t now = AP_HAL::millis();
bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000);
bool gcs_link_ok = ((now - last_heartbeat_ms) < (_gcs_fail_time_seconds*1000.0f));
bool gps_lock_ok = ((now - AP::gps().last_fix_time_ms()) < 3000);
AP_Mission *_mission = AP::mission();

1
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
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@ -126,6 +126,7 @@ protected:
AP_Int32 _amsl_limit;
AP_Int32 _amsl_margin_gps;
AP_Float _rc_fail_time_seconds;
AP_Float _gcs_fail_time_seconds;
AP_Int8 _max_gps_loss;
AP_Int8 _max_comms_loss;
AP_Int8 _enable_geofence_fs;