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commander: don't auto-disarm as fast if not flown

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It was found inconvenient that auto-disarm triggers too quickly right
after arming when the vehicle has not actually taken off yet.

Therefore, the auto-disarm takes now by a factor of 5 longer if the
vehicle has not taken off yet.
This commit is contained in:
Julian Oes
2016-09-29 11:30:34 +02:00
committed by Lorenz Meier
parent ddea179e95
commit 0f763768b1
2 changed files with 23 additions and 2 deletions
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src/modules/commander/commander.cpp
+19 -2
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@@ -1612,6 +1612,8 @@ int commander_thread_main(int argc, char *argv[])
bool main_state_changed = false;
bool failsafe_old = false;
bool have_taken_off_since_arming = false;
/* initialize low priority thread */
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
@@ -1686,8 +1688,6 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_ef_time_thres, &ef_time_thres);
param_get(_param_geofence_action, &geofence_action);
param_get(_param_disarm_land, &disarm_when_landed);
auto_disarm_hysteresis.set_hysteresis_time_from(false,
(hrt_abstime)disarm_when_landed * 1000000);
param_get(_param_low_bat_act, &low_bat_action);
param_get(_param_offboard_loss_timeout, &offboard_loss_timeout);
@@ -2049,6 +2049,7 @@ int commander_thread_main(int argc, char *argv[])
mavlink_and_console_log_info(&mavlink_log_pub, "Landing detected");
} else {
mavlink_and_console_log_info(&mavlink_log_pub, "Takeoff detected");
have_taken_off_since_arming = true;
}
}
@@ -2063,6 +2064,17 @@ int commander_thread_main(int argc, char *argv[])
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 * 1000000;
if (!have_taken_off_since_arming) {
timeout_time *= 5;
}
auto_disarm_hysteresis.set_hysteresis_time_from(false, timeout_time);
// Check for auto-disarm
if (armed.armed && land_detector.landed && disarm_when_landed > 0) {
auto_disarm_hysteresis.set_state_and_update(true);
@@ -2914,6 +2926,11 @@ int commander_thread_main(int argc, char *argv[])
status_changed = false;
if (!armed.armed) {
/* Reset the flag if disarmed. */
have_taken_off_since_arming = false;
}
/* publish internal state for logging purposes */
if (commander_state_pub != nullptr) {