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Rover: last_heartbeat_ms moved to failsafe structure

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This commit is contained in:
Randy Mackay 2018-10-31 14:24:22 +09:00
parent ed8feda5b9
commit 047f704236
4 changed files with 4 additions and 6 deletions
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2
APMrover2/APMrover2.cpp
View File

@ -197,7 +197,7 @@ void Rover::ahrs_update()
void Rover::gcs_failsafe_check(void) void Rover::gcs_failsafe_check(void)
{ {
if (g.fs_gcs_enabled) { if (g.fs_gcs_enabled) {
failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000); failsafe_trigger(FAILSAFE_EVENT_GCS, failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000);
} }
} }

2
APMrover2/GCS_Mavlink.cpp
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@ -813,7 +813,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break; break;
} }
rover.last_heartbeat_ms = AP_HAL::millis(); rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false); rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break; break;
} }

4
APMrover2/Rover.h
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@ -265,6 +265,7 @@ private:
uint32_t start_time; uint32_t start_time;
uint8_t triggered; uint8_t triggered;
uint32_t last_valid_rc_ms; uint32_t last_valid_rc_ms;
uint32_t last_heartbeat_ms;
} failsafe; } failsafe;
// notification object for LEDs, buzzers etc (parameter set to false disables external leds) // notification object for LEDs, buzzers etc (parameter set to false disables external leds)
@ -273,9 +274,6 @@ private:
// true if we have a position estimate from AHRS // true if we have a position estimate from AHRS
bool have_position; bool have_position;
// the time when the last HEARTBEAT message arrived from a GCS
uint32_t last_heartbeat_ms;
// obstacle detection information // obstacle detection information
struct { struct {
// have we detected an obstacle? // have we detected an obstacle?

2
APMrover2/failsafe.cpp
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@ -138,6 +138,6 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
void Rover::afs_fs_check(void) void Rover::afs_fs_check(void)
{ {
// perform AFS failsafe checks // perform AFS failsafe checks
g2.afs.check(rover.last_heartbeat_ms, rover.g2.fence.get_breaches() != 0, failsafe.last_valid_rc_ms); g2.afs.check(failsafe.last_heartbeat_ms, g2.fence.get_breaches() != 0, failsafe.last_valid_rc_ms);
} }
#endif #endif