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AP_Mount: Siyi timeout moved to definition

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Randy Mackay 2023-08-24 12:46:14 +09:00 committed by Andrew Tridgell
parent 23deeb3a00
commit d5772774d1
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -17,6 +17,7 @@ extern const AP_HAL::HAL& hal;
#define AP_MOUNT_SIYI_PITCH_P 1.50 // pitch controller P gain (converts pitch angle error to target rate) #define AP_MOUNT_SIYI_PITCH_P 1.50 // pitch controller P gain (converts pitch angle error to target rate)
#define AP_MOUNT_SIYI_YAW_P 1.50 // yaw controller P gain (converts yaw angle error to target rate) #define AP_MOUNT_SIYI_YAW_P 1.50 // yaw controller P gain (converts yaw angle error to target rate)
#define AP_MOUNT_SIYI_LOCK_RESEND_COUNT 5 // lock value is resent to gimbal every 5 iterations #define AP_MOUNT_SIYI_LOCK_RESEND_COUNT 5 // lock value is resent to gimbal every 5 iterations
#define AP_MOUNT_SIYI_TIMEOUT_MS 1000 // timeout for health and rangefinder readings
#define AP_MOUNT_SIYI_DEBUG 0 #define AP_MOUNT_SIYI_DEBUG 0
#define debug(fmt, args ...) do { if (AP_MOUNT_SIYI_DEBUG) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Siyi: " fmt, ## args); } } while (0) #define debug(fmt, args ...) do { if (AP_MOUNT_SIYI_DEBUG) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Siyi: " fmt, ## args); } } while (0)
@ -163,7 +164,7 @@ bool AP_Mount_Siyi::healthy() const
// unhealthy if attitude information NOT received recently // unhealthy if attitude information NOT received recently
const uint32_t now_ms = AP_HAL::millis(); const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _last_current_angle_rad_ms > 1000) { if (now_ms - _last_current_angle_rad_ms > AP_MOUNT_SIYI_TIMEOUT_MS) {
return false; return false;
} }