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Commander: support finer granularity of data llink loss and RC loss actions

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Lorenz Meier
2016-04-23 16:51:10 +02:00
parent b781006e20
commit 55d18949bc
4 changed files with 12 additions and 17 deletions
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src/modules/commander/commander.cpp
+8 -4
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@@ -1171,7 +1171,8 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_sys_type = param_find("MAV_TYPE");
param_t _param_system_id = param_find("MAV_SYS_ID");
param_t _param_component_id = param_find("MAV_COMP_ID");
param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
param_t _param_enable_datalink_loss = param_find("NAV_DLL_ACT");
param_t _param_enable_rc_loss = param_find("NAV_RCL_ACT");
param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
@@ -1524,7 +1525,8 @@ int commander_thread_main(int argc, char *argv[])
transition_result_t arming_ret;
int32_t datalink_loss_enabled = false;
int32_t datalink_loss_enabled = 0;
int32_t rc_loss_enabled = 0;
int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5;
int32_t datalink_regain_timeout = 0;
@@ -1608,6 +1610,7 @@ int commander_thread_main(int argc, char *argv[])
/* Safety parameters */
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_enable_rc_loss, &rc_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_rc_in_off, &rc_in_off);
@@ -2681,11 +2684,12 @@ int commander_thread_main(int argc, char *argv[])
/* now set navigation state according to failsafe and main state */
bool nav_state_changed = set_nav_state(&status,
&internal_state,
(bool)datalink_loss_enabled,
(datalink_loss_enabled > 0),
mission_result.finished,
mission_result.stay_in_failsafe,
&status_flags,
land_detector.landed);
land_detector.landed,
(rc_loss_enabled > 0));
if (status.failsafe != failsafe_old) {
status_changed = true;