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Commander: Allow setting home position faster

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Lorenz Meier
2015-11-29 18:49:58 +01:00
parent 3c26ca99a0
commit 65002d279f
1 changed files with 3 additions and 3 deletions
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src/modules/commander/commander.cpp
+3 -3
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@@ -153,7 +153,7 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define PRINT_INTERVAL 5000000
#define PRINT_MODE_REJECT_INTERVAL 10000000
#define INAIR_RESTART_HOLDOFF_INTERVAL 1000000
#define INAIR_RESTART_HOLDOFF_INTERVAL 500000
#define HIL_ID_MIN 1000
#define HIL_ID_MAX 1999
@@ -573,7 +573,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
arming_ret = arm_disarm(cmd_arm, mavlink_fd, "set mode command");
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
if (cmd_arm && (arming_ret == TRANSITION_CHANGED) &&
(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))) {
@@ -2393,7 +2393,7 @@ int commander_thread_main(int argc, char *argv[])
commander_set_home_position(home_pub, _home, local_position, global_position, attitude);
}
/* update home position on arming if at least 1s from commander start spent to avoid setting home on in-air restart */
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
else if (((!was_armed && armed.armed) || (was_landed && !status.condition_landed)) &&
(now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) {
commander_set_home_position(home_pub, _home, local_position, global_position, attitude);