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Commander: Indicate overload on the ground only if not transient. Adjust max CPU load to 80%. Indicate overload in air immediatley

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Lorenz Meier
2016-12-21 11:44:47 +01:00
committed by Lorenz Meier
parent 11ef348a34
commit 9ae2376d1c
1 changed files with 19 additions and 4 deletions
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src/modules/commander/commander.cpp
+19 -4
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@@ -217,6 +217,8 @@ static struct cpuload_s cpuload = {};
static uint8_t main_state_prev = 0; static uint8_t main_state_prev = 0;
static bool warning_action_on = false; static bool warning_action_on = false;
static bool rtl_on = false;
static bool last_overload = false;
static struct status_flags_s status_flags = {}; static struct status_flags_s status_flags = {};
@@ -3124,17 +3126,28 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
} }
void void
control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed, battery_status_s *battery_local, const cpuload_s *cpuload_local) control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed,
bool changed, battery_status_s *battery_local, const cpuload_s *cpuload_local)
{ {
bool overload = (cpuload_local->load > 0.75f) || (cpuload_local->ram_usage > 0.98f); static hrt_abstime overload_start = 0;
bool overload = (cpuload_local->load > 0.80f) || (cpuload_local->ram_usage > 0.98f);
if (overload_start == 0 && overload) {
overload_start = hrt_absolute_time();
} else if (!overload) {
overload_start = 0;
}
/* driving rgbled */ /* driving rgbled */
if (changed) { if (changed || last_overload != overload) {
bool set_normal_color = false; bool set_normal_color = false;
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT; bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
int overload_warn_delay = (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 1000 : 250000;
/* set mode */ /* set mode */
if (overload) { if (overload && ((hrt_absolute_time() - overload_start) > overload_warn_delay)) {
rgbled_set_mode(RGBLED_MODE_BLINK_FAST); rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
rgbled_set_color(RGBLED_COLOR_PURPLE); rgbled_set_color(RGBLED_COLOR_PURPLE);
set_normal_color = false; set_normal_color = false;
@@ -3179,6 +3192,8 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
} }
} }
last_overload = overload;
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V1) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4) || defined (CONFIG_ARCH_BOARD_CRAZYFLIE) #if defined (CONFIG_ARCH_BOARD_PX4FMU_V1) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4) || defined (CONFIG_ARCH_BOARD_CRAZYFLIE)
/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */ /* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */