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FailureDetector: move esc topic check into esc status update

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This commit is contained in:
Matthias Grob
2020-09-08 11:42:30 +02:00
parent c180e09b9a
commit 981e05c633
1 changed files with 10 additions and 14 deletions
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src/modules/commander/failure_detector/FailureDetector.cpp
+10 -14
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@@ -62,12 +62,8 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status)
_status &= ~(FAILURE_ROLL | FAILURE_PITCH | FAILURE_ALT | FAILURE_EXT);
}
if (_esc_status_sub.updated()) {
if (_param_escs_en.get()) {
updateEscsStatus(vehicle_status);
}
if (_param_escs_en.get()) {
updateEscsStatus(vehicle_status);
}
return _status != previous_status;
@@ -159,17 +155,17 @@ void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status)
hrt_abstime time_now = hrt_absolute_time();
if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
esc_status_s esc_status;
esc_status_s esc_status{};
_esc_status_sub.copy(&esc_status);
if (_esc_status_sub.update(&esc_status)) {
int all_escs_armed = (1 << esc_status.esc_count) - 1;
int all_escs_armed = (1 << esc_status.esc_count) - 1;
_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);
_esc_failure_hysteresis.set_state_and_update(all_escs_armed != esc_status.esc_armed_flags, time_now);
_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);
_esc_failure_hysteresis.set_state_and_update(all_escs_armed != esc_status.esc_armed_flags, time_now);
if (_esc_failure_hysteresis.get_state()) {
_status |= FAILURE_ARM_ESCS;
if (_esc_failure_hysteresis.get_state()) {
_status |= FAILURE_ARM_ESCS;
}
}
} else {