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Commander: Fix GPS loss not handled properly

This commit is contained in:
Johan Jansen 2015-02-11 16:42:01 +01:00
parent 7f7c36b5b1
commit dc522f217f
3 changed files with 21 additions and 20 deletions
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35
src/modules/commander/commander.cpp
View File

@ -1388,30 +1388,25 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
}
/* update condition_global_position_valid */
/* hysteresis for EPH/EPV */
bool eph_good;
if (status.condition_global_position_valid) {
if (global_position.eph > eph_threshold * 2.5f) {
eph_good = false;
} else {
eph_good = true;
//update condition_global_position_valid
//Global positions are only published by the estimators if they are valid
if(hrt_absolute_time() - global_position.timestamp > POSITION_TIMEOUT) {
//We have had no good fix for POSITION_TIMEOUT amount of time
if(status.condition_global_position_valid) {
set_tune_override(TONE_GPS_WARNING_TUNE);
status_changed = true;
}
} else {
if (global_position.eph < eph_threshold) {
eph_good = true;
} else {
eph_good = false;
status.condition_global_position_valid = false;
}
else if(hrt_absolute_time() > POSITION_TIMEOUT) {
//Got good global position estimate
if(!status.condition_global_position_valid) {
status_changed = true;
status.condition_global_position_valid = true;
}
}
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid),
&status_changed);
/* update condition_local_position_valid and condition_local_altitude_valid */
/* hysteresis for EPH */
bool local_eph_good;
@ -2119,7 +2114,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
/* vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL handled as vehicle_status_s::ARMING_STATE_ARMED_ERROR / vehicle_status_s::ARMING_STATE_STANDBY_ERROR */
} else {
if (status_local->condition_local_position_valid) {
if (status_local->condition_global_position_valid) {
rgbled_set_color(RGBLED_COLOR_GREEN);
} else {

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

@ -115,6 +115,11 @@ void buzzer_deinit()
close(buzzer);
}
void set_tune_override(int tune)
{
ioctl(buzzer, TONE_SET_ALARM, tune);
}
void set_tune(int tune)
{
unsigned int new_tune_duration = tune_durations[tune];

1
src/modules/commander/commander_helper.h
View File

@ -55,6 +55,7 @@ bool is_rotary_wing(const struct vehicle_status_s *current_status);
int buzzer_init(void);
void buzzer_deinit(void);
void set_tune_override(int tune);
void set_tune(int tune);
void tune_positive(bool use_buzzer);
void tune_neutral(bool use_buzzer);