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Commander: consistent hysteresis initialization

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This commit is contained in:
Matthias Grob
2022-01-31 20:27:06 -05:00
committed by Daniel Agar
parent d10f9030ad
commit 955aad0dfb
1 changed files with 1 additions and 4 deletions
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src/modules/commander/Commander.cpp
+1 -4
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@@ -787,8 +787,6 @@ Commander::Commander() :
ModuleParams(nullptr), ModuleParams(nullptr),
_failure_detector(this) _failure_detector(this)
{ {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
_land_detector.landed = true; _land_detector.landed = true;
// XXX for now just set sensors as initialized // XXX for now just set sensors as initialized
@@ -2042,6 +2040,7 @@ Commander::run()
_arm_requirements.geofence = _param_geofence_action.get() > geofence_result_s::GF_ACTION_NONE; _arm_requirements.geofence = _param_geofence_action.get() > geofence_result_s::GF_ACTION_NONE;
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s); _auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
_offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get() * 1_s);
// disable arm gesture if an arm switch is configured // disable arm gesture if an arm switch is configured
if (param_man_arm_gesture != PARAM_INVALID && param_rc_map_arm_sw != PARAM_INVALID) { if (param_man_arm_gesture != PARAM_INVALID && param_rc_map_arm_sw != PARAM_INVALID) {
@@ -2079,8 +2078,6 @@ Commander::run()
} }
} }
_offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get() * 1e6f);
param_init_forced = false; param_init_forced = false;
} }