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commander: Changes resulting from code review

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Change units of parameters from uSec to sec.
Change recommended FW value for COM_POS_FS_GAIN from 2 to 0
Fix error in parameter description for COM_POS_FS_PROB
Fix error in unit for COM_POS_FS_GAIN
This commit is contained in:
Paul Riseborough
2017-08-26 09:15:30 +02:00
committed by Lorenz Meier
parent 684a598d9f
commit c3b1ec8b24
2 changed files with 21 additions and 16 deletions
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src/modules/commander/commander.cpp
+10 -4
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@@ -146,7 +146,7 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define STICK_ON_OFF_LIMIT 0.9f
#define POSITION_TIMEOUT (1 * 1000 * 1000) /**< consider the local or global position estimate invalid after 1000ms */
#define POSITION_TIMEOUT 1 /**< default number of seconds of position health check failure required to declare the position invalid */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
@@ -159,14 +159,14 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define INAIR_RESTART_HOLDOFF_INTERVAL 500000
/* Controls the probation period which is the amount of time required for position and velocity checks to pass before the validity can be changed from false to true*/
#define POSVEL_PROBATION_TAKEOFF 30E6 /**< probation duration set at takeoff (usec) */
#define POSVEL_PROBATION_TAKEOFF 30 /**< probation duration set at takeoff (sec) */
#define POSVEL_PROBATION_MIN 1E6 /**< minimum probation duration (usec) */
#define POSVEL_PROBATION_MAX 100E6 /**< maximum probation duration (usec) */
#define POSVEL_VALID_PROBATION_FACTOR 10 /**< the rate at which the probation duration is increased while checks are failing */
/* Parameters controlling the sensitivity of the position failsafe */
static int32_t posctl_nav_loss_delay = POSITION_TIMEOUT;
static int32_t posctl_nav_loss_prob = POSVEL_PROBATION_TAKEOFF;
static int32_t posctl_nav_loss_delay = POSITION_TIMEOUT * (1000 * 1000);
static int32_t posctl_nav_loss_prob = POSVEL_PROBATION_TAKEOFF * (1000 * 1000);
static int32_t posctl_nav_loss_gain = POSVEL_VALID_PROBATION_FACTOR;
/*
@@ -1701,8 +1701,14 @@ int commander_thread_main(int argc, char *argv[])
control_status_leds(&status, &armed, true, &battery, &cpuload);
/* Get parameter values controlloing activation of position failure failsafe and convert to required units*/
const int32_t sec_to_usec = (1000 * 1000);
int32_t init_param_val = POSITION_TIMEOUT;
param_get(param_find("COM_POS_FS_DELAY"), &posctl_nav_loss_delay);
posctl_nav_loss_delay = init_param_val * sec_to_usec; // convert to uSec
init_param_val = POSVEL_PROBATION_TAKEOFF;
param_get(param_find("COM_POS_FS_PROB"), &posctl_nav_loss_prob);
posctl_nav_loss_prob = init_param_val * sec_to_usec; // convert to uSec
param_get(param_find("COM_POS_FS_GAIN"), &posctl_nav_loss_gain);
/* now initialized */