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MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME

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Martina Rivizzigno
2020-11-11 16:59:13 +01:00
committed by Matthias Grob
parent c8fb7a6990
commit 55563eba49
10 changed files with 35 additions and 24 deletions
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src/modules/commander/Commander.cpp
+2 -2
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@@ -2721,8 +2721,8 @@ Commander::run()
if (_arm_state_machine.isArmed()) {
if (fd_status_flags.arm_escs) {
// 500ms is the PWM spoolup time. Within this timeframe controllers are not affecting actuator_outputs
if (hrt_elapsed_time(&_vehicle_status.armed_time) < 500_ms) {
// Checks have to pass within the spool up time
if (hrt_elapsed_time(&_vehicle_status.armed_time) < _param_com_spoolup_time.get() * 1_s) {
disarm(arm_disarm_reason_t::failure_detector);
mavlink_log_critical(&_mavlink_log_pub, "ESCs did not respond to arm request\t");
events::send(events::ID("commander_fd_escs_not_arming"), events::Log::Critical, "ESCs did not respond to arm request");