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LandDetector: use a 64bit counter for total system flight time 

The previous 32bit counter wrapped in ~1.19h, this switches to 2 32bit
counters, wrapping in 584942 years.
This commit is contained in:
Beat Küng 2017-02-01 13:38:28 +01:00 committed by Lorenz Meier
parent 05b649cc86
commit 3dc6e7b574
3 changed files with 29 additions and 7 deletions
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14
src/modules/land_detector/LandDetector.cpp
View File

@ -103,7 +103,8 @@ void LandDetector::_cycle()
_landDetected.freefall = false;
_landDetected.landed = false;
_landDetected.ground_contact = false;
_p_total_flight_time = param_find("LND_FLIGHT_TIME");
_p_total_flight_time_high = param_find("LND_FLIGHT_T_HI");
_p_total_flight_time_low = param_find("LND_FLIGHT_T_LO");
// Initialize uORB topics.
_initialize_topics();
@ -141,7 +142,10 @@ void LandDetector::_cycle()
// We landed
_total_flight_time += now - _takeoff_time;
_takeoff_time = 0;
param_set(_p_total_flight_time, &_total_flight_time);
int32_t flight_time = (_total_flight_time >> 32) & 0xffffffff;
param_set_no_notification(_p_total_flight_time_high, &flight_time);
flight_time = _total_flight_time & 0xffffffff;
param_set_no_notification(_p_total_flight_time_low, &flight_time);
}
_landDetected.timestamp = hrt_absolute_time();
@ -178,7 +182,11 @@ void LandDetector::_check_params(const bool force)
if (updated || force) {
_update_params();
param_get(_p_total_flight_time, &_total_flight_time);
int32_t flight_time;
param_get(_p_total_flight_time_high, &flight_time);
_total_flight_time = ((uint64_t)flight_time) << 32;
param_get(_p_total_flight_time_low, &flight_time);
_total_flight_time |= flight_time;
}
}

5
src/modules/land_detector/LandDetector.h
View File

@ -166,8 +166,9 @@ private:
bool _taskShouldExit;
bool _taskIsRunning;
param_t _p_total_flight_time;
int32_t _total_flight_time;
param_t _p_total_flight_time_high;
param_t _p_total_flight_time_low;
uint64_t _total_flight_time; ///< in microseconds
hrt_abstime _takeoff_time;
struct work_s _work;

17
src/modules/land_detector/land_detector_params.c
View File

@ -178,10 +178,23 @@ PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);
/**
* Total flight time in microseconds
*
* Total flight time of this autopilot.
* Total flight time of this autopilot. Higher 32 bits of the value.
* Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
*
* @min 0
* @group Land Detector
*
*/
PARAM_DEFINE_INT32(LND_FLIGHT_TIME, 0);
PARAM_DEFINE_INT32(LND_FLIGHT_T_HI, 0);
/**
* Total flight time in microseconds
*
* Total flight time of this autopilot. Lower 32 bits of the value.
* Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
*
* @min 0
* @group Land Detector
*
*/
PARAM_DEFINE_INT32(LND_FLIGHT_T_LO, 0);