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Commander: Changed COM_ONB_BOOT_T parameter to COM_OA_BOOT_T.

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Since the time out is only Obstacle-Avoidance related, the new naming is more self explanatory.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2019-03-19 15:54:59 +01:00 committed by Julian Oes
parent d937a5725b
commit e14e5b9d73
3 changed files with 8 additions and 8 deletions
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2
src/modules/commander/Commander.cpp
View File

@ -3967,7 +3967,7 @@ void Commander::data_link_check(bool &status_changed)
//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0
&& hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _onboard_boot_timeout.get() * 1_s) {
&& hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _oa_boot_timeout.get() * 1_s) {
if (!print_msg_once) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available!");
print_msg_once = true;

2
src/modules/commander/Commander.hpp
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@ -118,7 +118,7 @@ private:
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
(ParamInt<px4::params::COM_ONB_BOOT_T>) _onboard_boot_timeout
(ParamInt<px4::params::COM_OA_BOOT_T>) _oa_boot_timeout
)

12
src/modules/commander/commander_params.c
View File

@ -798,7 +798,7 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
/**
* Flag to enable obstacle avoidance
* Flag to enable obstacle avoidance.
*
* @boolean
* @group Mission
@ -806,14 +806,14 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
/**
* Set onboard controller bootup timeout
* Set avoidance system bootup timeout.
*
* This parameter defines the bootup timeout.
* After the timeout, a mavlink message that tells the user that the avoidance system
* is not available is sent.
* The avoidance system running on the companion computer is expected to boot
* within this time and start providing trajectory points.
* If no avoidance system is detected a MAVLink warning message is sent.
* @group Commander
* @unit s
* @min 0
* @max 200
*/
PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 100);
PARAM_DEFINE_INT32(COM_OA_BOOT_T, 100);