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Commander: Added COM_ONB_BOOT_T parameter.

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Since onboard controllers bootup times are hardware dependent, it makes sense to have the possibility to adapt timeout time according to the specific HW.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-03-13 14:33:02 +01:00
committed by Julian Oes
parent 7a8002fdab
commit 3b5ef82193
3 changed files with 21 additions and 4 deletions
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src/modules/commander/Commander.cpp
+3 -2
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@@ -3964,14 +3964,15 @@ void Commander::data_link_check(bool &status_changed)
if (status_flags.avoidance_system_required && !_onboard_controller_lost) {
//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 10_s
if (_datalink_last_heartbeat_avoidance_system == 0
&& hrt_elapsed_time(&_avoidance_system_not_started) > _onboard_boot_timeout.get() * 1_s
&& avoidance_waiting_count < AVOIDANCE_MAX_TRIALS) {
_avoidance_system_not_started = hrt_absolute_time();
mavlink_log_info(&mavlink_log_pub, "Waiting for avoidance system to start");
avoidance_waiting_count++;
} else if (avoidance_waiting_count == AVOIDANCE_MAX_TRIALS) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not responding. Try reboot vehicle.");
mavlink_log_critical(&mavlink_log_pub, "Avoidance not responding. Try reboot vehicle.");
avoidance_waiting_count++;
}
src/modules/commander/Commander.hpp
+3 -1
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@@ -117,7 +117,9 @@ 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_BOOT_T>) _onboard_boot_timeout
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
src/modules/commander/commander_params.c
+15 -1
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@@ -805,4 +805,18 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
* @reboot_required true
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
/**
* Set onboard controller bootup timeout
*
* This parameter defines the bootup timeout.
* After the timeout a mavlink message to warn the user that the system
* is still booting up is triggered.
*
* @group Commander
* @unit s
* @min 0
* @max 120
*/
PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 15);