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Removed hardcoded onboard controller timeouts thresholds.

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Added COM_ONB_LOSS_T and COM_ONB_REG_T parameters to specify thresholds that triggers "onboard link lost" and "onboard link regained".


Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-03-12 11:24:33 +01:00
committed by Beat Küng
parent 156317e546
commit 14415b29c1
3 changed files with 33 additions and 3 deletions
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src/modules/commander/Commander.cpp
+3 -2
View File
@@ -3907,7 +3907,7 @@ void Commander::data_link_check(bool &status_changed)
_datalink_last_heartbeat_onboard_controller = telemetry.heartbeat_time;
if (_onboard_controller_lost) {
if (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) < (5_s)) {
if (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) < _onboard_regain_threshold.get() * 1_s) {
mavlink_log_info(&mavlink_log_pub, "ONBOARD CONTROLLER REGAINED");
_onboard_controller_lost = false;
}
@@ -3951,7 +3951,8 @@ void Commander::data_link_check(bool &status_changed)
// ONBOARD CONTROLLER data link loss failsafe (hard coded 5 seconds)
if ((_datalink_last_heartbeat_onboard_controller > 0)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > 5_s) && !_onboard_controller_lost) {
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > _onboard_loss_timeout.get() * 1_s)
&& !_onboard_controller_lost) {
mavlink_log_critical(&mavlink_log_pub, "ONBOARD CONTROLLER LOST");
_onboard_controller_lost = true;
src/modules/commander/Commander.hpp
+4 -1
View File
@@ -118,7 +118,10 @@ private:
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid
(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
(ParamInt<px4::params::COM_ONB_LOSS_T>) _onboard_loss_timeout,
(ParamInt<px4::params::COM_ONB_REG_T>) _onboard_regain_threshold
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
src/modules/commander/commander_params.c
+26
View File
@@ -820,3 +820,29 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
/**
* Time-out to wait when onboard connection is lost before triggering onboard lost action.
* TODO: Define parameters to specify proper action to trigger.
*
* @group Commander
* @unit s
* @min 0
* @max 60
* @increment 1
*/
PARAM_DEFINE_INT32(COM_ONB_LOSS_T, 5);
/**
* Onboard link regain time threshold
*
* After a onboard link loss: Amount of time between two heartbeats to consider connection healthy again.
*
* @group Commander
* @unit s
* @min 0
* @max 3
* @decimal 1
* @increment 0.5
*/
PARAM_DEFINE_INT32(COM_ONB_REG_T, 1);