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Revert "datalink check: ignore onboard computer"

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This reverts commit 3f8793210b.

Conflicts:
	src/modules/commander/commander.cpp
	src/modules/commander/commander_params.c
This commit is contained in:
Thomas Gubler
2014-09-13 16:23:28 +02:00
parent e174117698
commit b5ffcfe3d1
2 changed files with 3 additions and 30 deletions
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src/modules/commander/commander.cpp
+3 -20
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@@ -685,7 +685,6 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
param_t _param_onboard_sysid = param_find("COM_ONBSYSID");
param_t _param_ef_throttle_thres = param_find("COM_EF_THROT");
param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T");
param_t _param_ef_time_thres = param_find("COM_EF_TIME");
@@ -883,14 +882,12 @@ int commander_thread_main(int argc, char *argv[])
uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_dl_loss[TELEMETRY_STATUS_ORB_ID_NUM];
bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
uint8_t telemetry_sysid[TELEMETRY_STATUS_ORB_ID_NUM];
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
telemetry_last_heartbeat[i] = 0;
telemetry_last_dl_loss[i] = 0;
telemetry_lost[i] = true;
telemetry_sysid[i] = 0;
}
/* Subscribe to global position */
@@ -978,9 +975,6 @@ int commander_thread_main(int argc, char *argv[])
int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5;
int32_t datalink_regain_timeout = 0;
int32_t onboard_sysid = 42; /**< systemid of the onboard computer,
telemetry from this sysid is not
validated for the datalink loss check */
/* Thresholds for engine failure detection */
int32_t ef_throttle_thres = 1.0f;
@@ -988,7 +982,6 @@ int commander_thread_main(int argc, char *argv[])
int32_t ef_time_thres = 1000.0f;
uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine
was healty*/
/* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false;
bool main_state_changed = false;
@@ -1051,7 +1044,6 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
param_get(_param_onboard_sysid, &onboard_sysid);
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
@@ -1101,7 +1093,6 @@ int commander_thread_main(int argc, char *argv[])
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
telemetry_sysid[i] = telemetry.system_id;
}
}
@@ -1590,18 +1581,10 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
telemetry_lost[i] = false;
/* If this is not an onboard link/onboard computer:
* set flag that we have a valid link */
if (telemetry_sysid[i] != (uint8_t)onboard_sysid) {
have_link = true;
}
} else if (!telemetry_lost[i] && telemetry_sysid[i] !=
(uint8_t)onboard_sysid) {
have_link = true;
} else if (!telemetry_lost[i]) {
/* telemetry was healthy also in last iteration
* we don't have to check a timeout,
* telemetry from onboard computers is not accepted as a valid datalink
*/
* we don't have to check a timeout */
have_link = true;
}