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commander: add COM_OBC_LOSS_T for setting onboard computer loss time-out

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TSC21
2021-03-01 09:31:59 +01:00
committed by Beat Küng
parent e9370c658a
commit 7abce87ae4
3 changed files with 15 additions and 2 deletions
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src/modules/commander/Commander.cpp
+2 -2
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@@ -3510,9 +3510,9 @@ void Commander::data_link_check()
}
}
// ONBOARD CONTROLLER data link loss failsafe (hard coded 5 seconds)
// ONBOARD CONTROLLER data link loss failsafe
if ((_datalink_last_heartbeat_onboard_controller > 0)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > 5_s)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > (_param_com_obc_loss_t.get() * 1_s))
&& !_onboard_controller_lost) {
mavlink_log_critical(&_mavlink_log_pub, "Connection to mission computer lost");