mirror of https://github.com/ArduPilot/ardupilot
Copter: integrate RC_Channel's RC_FS_TIMEOUT
timeout is lengthened for regular RC to 1 sec (was 0.5 sec) to be consistent with other vehicles
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@ -113,10 +113,9 @@ void Copter::read_radio()
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return;
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}
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const uint32_t elapsed = tnow_ms - last_radio_update_ms;
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// turn on throttle failsafe if no update from the RC Radio for 500ms or 1000ms if we are using RC_OVERRIDE
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const uint32_t timeout = RC_Channels::has_active_overrides() ? FS_RADIO_RC_OVERRIDE_TIMEOUT_MS : FS_RADIO_TIMEOUT_MS;
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if (elapsed < timeout) {
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// trigger failsafe if no update from the RC Radio for RC_FS_TIMEOUT seconds
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const uint32_t elapsed_ms = tnow_ms - last_radio_update_ms;
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if (elapsed_ms < rc().get_fs_timeout_ms()) {
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// not timed out yet
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return;
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}
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@ -129,7 +128,7 @@ void Copter::read_radio()
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return;
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}
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// Nobody ever talks to us. Log an error and enter failsafe.
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// Log an error and enter failsafe.
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AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
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set_failsafe_radio(true);
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}
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