dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

state_machine_helper: handle zero failsafe_timestamp

This commit is contained in:
Matthias Grob 2021-01-18 18:17:15 +01:00
parent b44b770972
commit cd51cf2996
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/commander/state_machine_helper.cpp
View File

@ -389,8 +389,9 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason)
{
if (!old_failsafe && status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// make sure intermittent failsafes don't lead to infinite delay by not constatnly reseting the timestamp
if (hrt_elapsed_time(&status->failsafe_timestamp) > 30_s) {
// make sure intermittent failsafes don't lead to infinite delay by not constantly reseting the timestamp
if (status->failsafe_timestamp == 0 ||
hrt_elapsed_time(&status->failsafe_timestamp) > 30_s) {
status->failsafe_timestamp = hrt_absolute_time();
}