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esc_calibration: handle timeout wraps better 

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
This commit is contained in:
Matthias Grob 2023-06-15 16:10:36 +02:00
parent db89bd5b5e
commit 11436f4109
1 changed files with 3 additions and 3 deletions
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6
src/modules/commander/esc_calibration.cpp
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@ -61,7 +61,7 @@ bool check_battery_disconnected(orb_advert_t *mavlink_log_pub)
uORB::SubscriptionData<battery_status_s> battery_status_sub{ORB_ID(battery_status)};
battery_status_sub.update();
const bool recent_battery_measurement = (hrt_absolute_time() - battery_status_sub.get().timestamp) < 1_s;
const bool recent_battery_measurement = hrt_absolute_time() < (battery_status_sub.get().timestamp + 1_s);
if (!recent_battery_measurement) {
// We have to send this message for now because "battery unavailable" gets ignored by QGC
@ -121,7 +121,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub)
hrt_abstime now = hrt_absolute_time();
battery_status_sub.update();
if ((now - timeout_start) < 1_s && (battery_status_sub.get().current_a > current_before_calibration + 1.f)) {
if (now > (timeout_start + 1_s) && (battery_status_sub.get().current_a > current_before_calibration + 1.f)) {
// Safety termination, current rises immediately, user didn't unplug power before
calibration_failed = true;
break;
@ -132,7 +132,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub)
break;
}
if ((now - timeout_start) > 6_s) {
if (now > (timeout_start + 6_s)) {
// Timeout, we continue since maybe the battery cannot be detected properly
// If we abort here and the ESCs are infact connected and started calibrating
// they will measure the disarmed value as the lower limit instead of the fixed 1000us