fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-29 18:24:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: workaround to prevent RC loss in HIL

Browse Source
This commit is contained in:
Julian Oes 2014-03-27 17:54:29 +01:00
parent bd290c65f8
commit 66527eea02
1 changed files with 10 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/commander/commander.cpp
View File

@ -119,6 +119,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
#define RC_TIMEOUT 100000
#define RC_TIMEOUT_HIL 500000
#define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000
@ -1108,8 +1109,16 @@ int commander_thread_main(int argc, char *argv[])
}
}
/*
* XXX workaround:
* Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
* which can trigger RC loss if the computer/simulator lags.
*/
uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
/* start RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;