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Onboard controller loss parameter cleanup.

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Since Timeout from onboard controller is something that does not require a lot of modifications there is no sense to having it parametrized.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2019-03-11 14:46:05 +01:00 committed by Beat Küng
parent cd47cefb03
commit 908cdaa574
3 changed files with 4 additions and 18 deletions
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2
src/modules/commander/Commander.cpp
View File

@ -3942,7 +3942,7 @@ void Commander::data_link_check(bool &status_changed)
// ONBOARD CONTROLLER data link loss failsafe (hard coded 5 seconds)
if ((_datalink_last_heartbeat_onboard_controller > 0)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > _onboard_loss_timeout.get() * 1_s)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > 5_s)
&& !_onboard_controller_lost) {
mavlink_log_critical(&mavlink_log_pub, "Onboard controller lost");

6
src/modules/commander/Commander.hpp
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@ -117,9 +117,7 @@ private:
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
(ParamInt<px4::params::COM_ONB_LOSS_T>) _onboard_loss_timeout
(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
@ -178,7 +176,7 @@ private:
hrt_abstime _datalink_last_heartbeat_gcs{0};
hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
bool _onboard_controller_lost{0};
bool _onboard_controller_lost{false};
hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
bool _avoidance_system_lost{0};

14
src/modules/commander/commander_params.c
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@ -804,16 +804,4 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
* @boolean
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
/**
* Time-out to wait when onboard connection is lost before triggering onboard lost action.
* TODO: Define parameters to specify proper action to trigger.
*
* @group Commander
* @unit s
* @min 0
* @max 60
* @increment 1
*/
PARAM_DEFINE_INT32(COM_ONB_LOSS_T, 5);
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);