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commander: Only print reject mode message every 10 seconds. Set home position also if armed via command. Warn that arming via shell does not set home position.

This commit is contained in:
Lorenz Meier 2015-06-08 16:48:42 +02:00
parent 3eebd8eb30
commit 0aa47236bf
1 changed files with 10 additions and 2 deletions
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12
src/modules/commander/commander.cpp
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@ -143,7 +143,9 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000
#define PRINT_MODE_REJECT_INTERVAL 2000000
#define PRINT_MODE_REJECT_INTERVAL 10000000
#define INAIR_RESTART_HOLDOFF_INTERVAL 2000000
enum MAV_MODE_FLAG {
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
@ -347,6 +349,7 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "arm")) {
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(true, mavlink_fd_local, "command line");
warnx("note: not updating home position on commandline arming!");
close(mavlink_fd_local);
exit(0);
}
@ -478,6 +481,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
// Transition the arming state
arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
if (arming_ret == TRANSITION_CHANGED && now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL) {
commander_set_home_position(home_pub, _home, local_position, global_position);
}
if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
/* use autopilot-specific mode */
if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
@ -2023,7 +2031,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
else if (arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) {
else if (arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL) {
commander_set_home_position(home_pub, _home, local_position, global_position);
}