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commander: Added duration of rc-loss to mavlink_log_critical message

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philipoe
2014-10-20 16:43:11 +02:00
parent 5c77fc0012
commit 4afa864583
2 changed files with 3 additions and 1 deletions
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src/modules/commander/commander.cpp
+2 -1
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@@ -1499,7 +1499,7 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
if (status.rc_signal_lost) { if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED (at t=%.3fs)",(double)(hrt_absolute_time())/1.0e6); mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %.3fs (at t=%.3fs)",(double)(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1.0e6,(double)(hrt_absolute_time())/1.0e6);
status_changed = true; status_changed = true;
} }
} }
@@ -1594,6 +1594,7 @@ int commander_thread_main(int argc, char *argv[])
if (!status.rc_signal_lost) { if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%.3fs)",(double)(hrt_absolute_time())/1.0e6); mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%.3fs)",(double)(hrt_absolute_time())/1.0e6);
status.rc_signal_lost = true; status.rc_signal_lost = true;
status.rc_signal_lost_timestamp=sp_man.timestamp;
status_changed = true; status_changed = true;
} }
} }
src/modules/uORB/topics/vehicle_status.h
+1
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@@ -201,6 +201,7 @@ struct vehicle_status_s {
bool rc_signal_found_once; bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception lost */ bool rc_signal_lost; /**< true if RC reception lost */
uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */
bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */
bool rc_input_blocked; /**< set if RC input should be ignored */ bool rc_input_blocked; /**< set if RC input should be ignored */