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make rc loss timeout a param

This commit is contained in:
Thomas Gubler 2014-09-05 12:06:05 +02:00
parent 973c034d6e
commit d18f3ee70d
2 changed files with 16 additions and 2 deletions
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7
src/modules/commander/commander.cpp
View File

@ -128,7 +128,6 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
@ -684,6 +683,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
param_t _param_onboard_sysid = param_find("COM_ONBSYSID");
param_t _param_ef_throttle_thres = param_find("COM_EF_THROT");
@ -976,6 +976,7 @@ int commander_thread_main(int argc, char *argv[])
int32_t datalink_loss_enabled = false;
int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5;
int32_t datalink_regain_timeout = 0;
int32_t onboard_sysid = 42; /**< systemid of the onboard computer,
telemetry from this sysid is not
@ -1048,6 +1049,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_parachute, &parachute_enabled);
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
param_get(_param_onboard_sysid, &onboard_sysid);
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
@ -1466,7 +1468,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;

11
src/modules/commander/commander_params.c
View File

@ -170,3 +170,14 @@ PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
* @max 7.0f
*/
PARAM_DEFINE_FLOAT(COM_EF_TIME, 5.0f);
/** RC loss time threshold
*
* After this amount of seconds without RC connection the rc lost flag is set to true
*
* @group commander
* @unit second
* @min 0
* @max 35
*/
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);