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datalink check: ignore onboard computer

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This commit is contained in:
Thomas Gubler 2014-09-03 10:34:52 +02:00
parent 3d01da35d0
commit 3f8793210b
2 changed files with 27 additions and 3 deletions
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20
src/modules/commander/commander.cpp
View File

@ -685,6 +685,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
param_t _param_onboard_sysid = param_find("COM_ONBSYSID");
/* welcome user */
warnx("starting");
@ -879,12 +880,14 @@ int commander_thread_main(int argc, char *argv[])
uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_dl_loss[TELEMETRY_STATUS_ORB_ID_NUM];
bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
uint8_t telemetry_sysid[TELEMETRY_STATUS_ORB_ID_NUM];
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
telemetry_last_heartbeat[i] = 0;
telemetry_last_dl_loss[i] = 0;
telemetry_lost[i] = true;
telemetry_sysid[i] = 0;
}
/* Subscribe to global position */
@ -971,6 +974,8 @@ int commander_thread_main(int argc, char *argv[])
int32_t datalink_loss_enabled = false;
int32_t datalink_loss_timeout = 10;
int32_t datalink_regain_timeout = 0;
uint8_t onboard_sysid = 42; /**< systemid of the onboard computer, telemetry from this sysid
is not validated for the datalink loss check */
/* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false;
@ -1033,6 +1038,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
param_get(_param_onboard_sysid, &onboard_sysid);
}
orb_check(sp_man_sub, &updated);
@ -1079,6 +1085,7 @@ int commander_thread_main(int argc, char *argv[])
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
telemetry_sysid[i] = telemetry.system_id;
}
}
@ -1562,10 +1569,17 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
telemetry_lost[i] = false;
have_link = true;
} else if (!telemetry_lost[i]) {
/* If this is not an onboard link/onboard computer:
* set flag that we have a valid link */
if (telemetry_sysid[i] != onboard_sysid) {
have_link = true;
}
} else if (!telemetry_lost[i] && telemetry_sysid[i] != onboard_sysid) {
/* telemetry was healthy also in last iteration
* we don't have to check a timeout */
* we don't have to check a timeout,
* telemetry from onboard computers is not accepted as a valid datalink
*/
have_link = true;
}

10
src/modules/commander/commander_params.c
View File

@ -128,3 +128,13 @@ PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
* @max 30
*/
PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
/** Onboard computer system id
*
* The system id of the onboard computer. Heartbeats from this system are ignored during the datalink check
*
* @group commander
* @min 0
* @max 255
*/
PARAM_DEFINE_INT32(COM_ONBSYSID, 42);