fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 08:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: Added COM_ONB_BOOT_T parameter.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+3 -2
View File
@@ -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++;
}