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FailureDetector - update hysteresis to comply with new interface

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bresch
2019-06-05 16:53:08 +02:00
committed by Beat Küng
parent 57c2085ce4
commit ac4458460d
2 changed files with 5 additions and 3 deletions
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src/modules/commander/failure_detector/FailureDetector.cpp
+4 -2
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@@ -77,11 +77,13 @@ FailureDetector::updateAttitudeStatus()
const bool roll_status = (max_roll > 0.0f) && (fabsf(roll) > max_roll); const bool roll_status = (max_roll > 0.0f) && (fabsf(roll) > max_roll);
const bool pitch_status = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch); const bool pitch_status = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch);
hrt_abstime time_now = hrt_absolute_time();
// Update hysteresis // Update hysteresis
_roll_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_r_ttri.get())); _roll_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_r_ttri.get()));
_pitch_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_p_ttri.get())); _pitch_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_p_ttri.get()));
_roll_failure_hysteresis.set_state_and_update(roll_status); _roll_failure_hysteresis.set_state_and_update(roll_status, time_now);
_pitch_failure_hysteresis.set_state_and_update(pitch_status); _pitch_failure_hysteresis.set_state_and_update(pitch_status, time_now);
// Update bitmask // Update bitmask
_status &= ~(FAILURE_ROLL | FAILURE_PITCH); _status &= ~(FAILURE_ROLL | FAILURE_PITCH);
src/modules/commander/failure_detector/FailureDetector.hpp
+1 -1
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@@ -46,7 +46,7 @@
#include <matrix/matrix/math.hpp> #include <matrix/matrix/math.hpp>
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <px4_module_params.h> #include <px4_module_params.h>
#include <systemlib/hysteresis/hysteresis.h> #include <hysteresis/hysteresis.h>
// subscriptions // subscriptions
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>