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commander: make auto disarm timeout float

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such that fractions of a second are configurable
This commit is contained in:
Matthias Grob
2018-08-30 08:05:13 +02:00
committed by Beat Küng
parent 658b957888
commit 0c6bffb66a
7 changed files with 19 additions and 21 deletions
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src/modules/commander/Commander.cpp
+9 -10
View File
@@ -1383,7 +1383,7 @@ Commander::run()
float ef_time_thres = 1000.0f;
uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
int32_t disarm_when_landed = 0;
float disarm_when_landed_timeout = 0.f;
/* check which state machines for changes, clear "changed" flag */
bool main_state_changed = false;
@@ -1481,7 +1481,7 @@ Commander::run()
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
param_get(_param_geofence_action, &geofence_action);
param_get(_param_disarm_land, &disarm_when_landed);
param_get(_param_disarm_land, &disarm_when_landed_timeout);
param_get(_param_flight_uuid, &flight_uuid);
// If we update parameters the first time
@@ -1489,7 +1489,7 @@ Commander::run()
// After that it will be set in the main state
// machine based on the arming state.
if (param_init_forced) {
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed * 1_s);
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed_timeout * 1_s);
}
param_get(_param_offboard_loss_timeout, &offboard_loss_timeout);
@@ -1719,17 +1719,16 @@ Commander::run()
was_falling = land_detector.freefall;
}
/* Update hysteresis time. Use a time of factor 5 longer if we have not taken off yet. */
hrt_abstime timeout_time = disarm_when_landed * 1_s;
// Auto disarm when landed
if (!have_taken_off_since_arming) {
timeout_time *= 5;
// pilot has ten seconds time to take off
auto_disarm_hysteresis.set_hysteresis_time_from(false, 10_s);
} else {
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed_timeout * 1_s);
}
auto_disarm_hysteresis.set_hysteresis_time_from(false, timeout_time);
// Check for auto-disarm
if (armed.armed && land_detector.landed && disarm_when_landed > 0) {
if (armed.armed && land_detector.landed && disarm_when_landed_timeout > FLT_EPSILON) {
auto_disarm_hysteresis.set_state_and_update(true);
} else {
src/modules/commander/commander_params.c
+5 -6
View File
@@ -278,18 +278,17 @@ PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
* automatically disarmed in case a landing situation has been detected during this period.
*
* The vehicle will also auto-disarm right after arming if it has not even flown, however the time
* will be longer by a factor of 5.
* will always be 10 seconds such that the pilot has enough time to take off.
*
* A value of zero means that automatic disarming is disabled.
* A negative value means that automatic disarming triggered by landing detection is disabled.
*
* @group Commander
* @min 0
* @min -1
* @max 20
* @unit s
* @decimal 0
* @increment 1
* @decimal 2
*/
PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
PARAM_DEFINE_FLOAT(COM_DISARM_LAND, -1.0f);
/**
* Allow arming without GPS