forked from Archive/PX4-Autopilot
commander: Fix data link lost / regained logic
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7e81778908
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@ -1828,13 +1828,17 @@ int commander_thread_main(int argc, char *argv[])
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for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
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if (telemetry_last_heartbeat[i] != 0 &&
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hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) {
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/* handle the case where data link was regained,
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/* handle the case where data link was gained first time or regained,
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* accept datalink as healthy only after datalink_regain_timeout seconds
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* */
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if (telemetry_lost[i] &&
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hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
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mavlink_log_info(mavlink_fd, "data link %i regained", i);
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/* only report a regain */
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if (telemetry_last_dl_loss[i] > 0) {
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mavlink_and_console_log_critical(mavlink_fd, "data link #%i regained", i);
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}
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telemetry_lost[i] = false;
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have_link = true;
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@ -1845,10 +1849,12 @@ int commander_thread_main(int argc, char *argv[])
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}
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} else {
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telemetry_last_dl_loss[i] = hrt_absolute_time();
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if (!telemetry_lost[i]) {
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mavlink_log_info(mavlink_fd, "data link %i lost", i);
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/* only reset the timestamp to a different time on state change */
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telemetry_last_dl_loss[i] = hrt_absolute_time();
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mavlink_and_console_log_critical(mavlink_fd, "data link #%i lost", i);
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telemetry_lost[i] = true;
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}
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}
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@ -1863,7 +1869,7 @@ int commander_thread_main(int argc, char *argv[])
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} else {
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if (!status.data_link_lost) {
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mavlink_log_info(mavlink_fd, "ALL DATA LINKS LOST");
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mavlink_and_console_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
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status.data_link_lost = true;
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status.data_link_lost_counter++;
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status_changed = true;
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