From b4b1b44c6a7b7e147ce996f726f32be8703021cc Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 15 Dec 2025 11:41:12 +0100 Subject: [PATCH] FailureDetector: consistent timestamp naming --- .../failure_detector/FailureDetector.cpp | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp index 0c93f303a7..ee62ade96a 100644 --- a/src/modules/commander/failure_detector/FailureDetector.cpp +++ b/src/modules/commander/failure_detector/FailureDetector.cpp @@ -141,13 +141,13 @@ void FailureDetector::updateAttitudeStatus(const vehicle_status_s &vehicle_statu const bool roll_status = (max_roll > FLT_EPSILON) && (fabsf(roll) > max_roll); const bool pitch_status = (max_pitch > FLT_EPSILON) && (fabsf(pitch) > max_pitch); - hrt_abstime time_now = hrt_absolute_time(); + hrt_abstime now = hrt_absolute_time(); // Update hysteresis _roll_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1_s * _param_fd_fail_r_ttri.get())); _pitch_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1_s * _param_fd_fail_p_ttri.get())); - _roll_failure_hysteresis.set_state_and_update(roll_status, time_now); - _pitch_failure_hysteresis.set_state_and_update(pitch_status, time_now); + _roll_failure_hysteresis.set_state_and_update(roll_status, now); + _pitch_failure_hysteresis.set_state_and_update(pitch_status, now); // Update status _failure_detector_status.flags.roll = _roll_failure_hysteresis.get_state(); @@ -164,11 +164,9 @@ void FailureDetector::updateExternalAtsStatus() uint32_t pulse_width = pwm_input.pulse_width; bool ats_trigger_status = (pulse_width >= (uint32_t)_param_fd_ext_ats_trig.get()) && (pulse_width < 3_ms); - hrt_abstime time_now = hrt_absolute_time(); - // Update hysteresis _ext_ats_failure_hysteresis.set_hysteresis_time_from(false, 100_ms); // 5 consecutive pulses at 50hz - _ext_ats_failure_hysteresis.set_state_and_update(ats_trigger_status, time_now); + _ext_ats_failure_hysteresis.set_state_and_update(ats_trigger_status, hrt_absolute_time()); _failure_detector_status.flags.ext = _ext_ats_failure_hysteresis.get_state(); } @@ -176,7 +174,7 @@ void FailureDetector::updateExternalAtsStatus() void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, const esc_status_s &esc_status) { - hrt_abstime time_now = hrt_absolute_time(); + hrt_abstime now = hrt_absolute_time(); if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { const int limited_esc_count = math::min(esc_status.esc_count, esc_status_s::CONNECTED_ESC_MAX); @@ -190,7 +188,7 @@ void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, c } _esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms); - _esc_failure_hysteresis.set_state_and_update(is_esc_failure, time_now); + _esc_failure_hysteresis.set_state_and_update(is_esc_failure, now); if (_esc_failure_hysteresis.get_state()) { _failure_detector_status.flags.arm_escs = true; @@ -198,7 +196,7 @@ void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, c } else { // reset ESC bitfield - _esc_failure_hysteresis.set_state_and_update(false, time_now); + _esc_failure_hysteresis.set_state_and_update(false, now); _failure_detector_status.flags.arm_escs = false; } }