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suggestion for treating obstacle avoidance heartbeats

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This commit is contained in:
baumanta
2019-03-12 11:24:33 +01:00
committed by Beat Küng
parent 6dec451bab
commit a98f5d2ab2
5 changed files with 76 additions and 8 deletions
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src/modules/commander/Commander.hpp
+10 -2
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@@ -116,7 +116,9 @@ private:
(ParamInt<px4::params::COM_POS_FS_GAIN>) _failsafe_pos_gain,
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
(ParamInt<px4::params::MPC_OBS_AVOID>) _obs_avoid
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
@@ -178,7 +180,13 @@ private:
uint64_t _datalink_last_heartbeat_onboard_controller{0};
uint64_t _onboard_controller_lost{0};
int _iridiumsbd_status_sub{-1};
uint64_t _datalink_last_heartbeat_avoidance_system{0};
uint64_t _avoidance_system_lost{0};
uint64_t _avoidance_system_not_started{0};
bool _avoidance_system_status_change{0};
uint64_t _datalink_last_status_avoidance_system{9};
int _iridiumsbd_status_sub{-1};
uint64_t _high_latency_datalink_heartbeat{0};
uint64_t _high_latency_datalink_lost{0};