fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 09:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

hysteresis: remove dependency/side effect on time

Browse Source
This commit is contained in:
Julian Oes
2019-05-27 09:57:50 +02:00
parent 7b9562e3b1
commit b29e5e3adb
8 changed files with 92 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+4 -4
View File
@@ -1715,7 +1715,7 @@ Commander::run()
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
}
_auto_disarm_landed.set_state_and_update(land_detector.landed);
_auto_disarm_landed.set_state_and_update(land_detector.landed, hrt_absolute_time());
if (_auto_disarm_landed.get_state()) {
arm_disarm(false, &mavlink_log_pub, "Auto disarm on land");
@@ -1724,15 +1724,15 @@ Commander::run()
// Auto disarm after 5 seconds if kill switch is engaged
_auto_disarm_killed.set_state_and_update(armed.manual_lockdown);
_auto_disarm_killed.set_state_and_update(armed.manual_lockdown, hrt_absolute_time());
if (_auto_disarm_killed.get_state()) {
arm_disarm(false, &mavlink_log_pub, "Kill-switch still engaged, disarming");
}
} else {
_auto_disarm_landed.set_state_and_update(false);
_auto_disarm_killed.set_state_and_update(false);
_auto_disarm_landed.set_state_and_update(false, hrt_absolute_time());
_auto_disarm_killed.set_state_and_update(false, hrt_absolute_time());
}