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Commander: increased hardcoded timeout time for avoidance to start.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2019-03-13 11:32:02 +01:00 committed by Julian Oes
parent f4a4dab65a
commit 7a8002fdab
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/Commander.cpp
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@ -3964,14 +3964,14 @@ void Commander::data_link_check(bool &status_changed)
if (status_flags.avoidance_system_required && !_onboard_controller_lost) {
//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 5_s
if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 10_s
&& avoidance_waiting_count < AVOIDANCE_MAX_TRIALS) {
_avoidance_system_not_started = hrt_absolute_time();
mavlink_log_info(&mavlink_log_pub, "Waiting for avoidance system to start");
avoidance_waiting_count++;
} else if (avoidance_waiting_count == AVOIDANCE_MAX_TRIALS) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system stuck. Try reboot vehicle.");
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not responding. Try reboot vehicle.");
avoidance_waiting_count++;
}