fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 07:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: rework nav failure check

Browse Source 
Allows to recover from a failed test with a stricter test
This commit is contained in:
bresch
2021-02-11 16:20:30 -05:00
committed by Daniel Agar
parent 80b8e6a48f
commit b1b032d6e1
2 changed files with 26 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.hpp
+2 -1
View File
@@ -319,7 +319,8 @@ private:
hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;
/* class variables used to check for navigation failure after takeoff */
hrt_abstime _time_last_innov_pass{0}; /**< last time velocity or position innovations passed */
hrt_abstime _time_last_innov_pass{0}; /**< last time velocity and position innovations passed */
hrt_abstime _time_last_innov_fail{0}; /**< last time velocity and position innovations failed */
bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */