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Commander: ensure hysteresis init

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Lorenz Meier
2016-10-02 11:17:32 +02:00
committed by Lorenz Meier
parent 0f763768b1
commit 710a8e8f56
1 changed files with 11 additions and 1 deletions
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src/modules/commander/commander.cpp
+11 -1
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@@ -1641,7 +1641,6 @@ int commander_thread_main(int argc, char *argv[])
orb_check(param_changed_sub, &updated);
if (updated || param_init_forced) {
param_init_forced = false;
/* parameters changed */
struct parameter_update_s param_changed;
@@ -1689,6 +1688,15 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_geofence_action, &geofence_action);
param_get(_param_disarm_land, &disarm_when_landed);
// If we update parameters the first time
// make sure the hysteresis time gets set.
// After that it will be set in the main state
// machine based on the arming state.
if (param_init_forced) {
auto_disarm_hysteresis.set_hysteresis_time_from(false,
(hrt_abstime)disarm_when_landed * 1000000);
}
param_get(_param_low_bat_act, &low_bat_action);
param_get(_param_offboard_loss_timeout, &offboard_loss_timeout);
param_get(_param_offboard_loss_act, &offboard_loss_act);
@@ -1714,6 +1722,8 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_fmode_5, &_flight_mode_slots[4]);
param_get(_param_fmode_6, &_flight_mode_slots[5]);
param_init_forced = false;
/* Set flag to autosave parameters if necessary */
if (updated && autosave_params != 0 && param_changed.saved == false) {
/* trigger an autosave */