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launchdetection: send warning to qgc every 4s

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This commit is contained in:
Thomas Gubler 2014-01-11 00:09:10 +01:00
parent 187c2a4bca
commit ac7787e2a2
1 changed files with 5 additions and 7 deletions
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12
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -175,7 +175,6 @@ private:
/* takeoff/launch states */
bool launch_detected;
bool usePreTakeoffThrust;
bool launch_detection_message_sent;
/* Landingslope object */
Landingslope landingslope;
@ -397,8 +396,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_mavlink_fd(-1),
launchDetector(),
launch_detected(false),
usePreTakeoffThrust(false),
launch_detection_message_sent(false)
usePreTakeoffThrust(false)
{
/* safely initialize structs */
vehicle_attitude_s _att = {0};
@ -985,10 +983,11 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
// warnx("Launch detection running");
if(!launch_detected) { //do not do further checks once a launch was detected
if (launchDetector.launchDetectionEnabled()) {
// warnx("Launch detection enabled");
if(!launch_detection_message_sent) {
static hrt_abstime last_sent = 0;
if(hrt_absolute_time() - last_sent > 4e6) {
// warnx("Launch detection running");
mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
launch_detection_message_sent = true;
last_sent = hrt_absolute_time();
}
launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
if (launchDetector.getLaunchDetected()) {
@ -1057,7 +1056,6 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
if (mission_item_triplet.current.nav_cmd != NAV_CMD_TAKEOFF) {
launch_detected = false;
usePreTakeoffThrust = false;
launch_detection_message_sent = false;
}
if (was_circle_mode && !_l1_control.circle_mode()) {