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arm_auth: check authorization timestamp to skip old commands

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This commit is contained in:
Nicolas MARTIN
2020-09-14 15:09:13 +02:00
committed by Beat Küng
parent defa437b88
commit e89c21155a
1 changed files with 5 additions and 1 deletions
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src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+5 -1
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@@ -49,6 +49,7 @@ static int command_ack_sub = -1;
static param_t param_arm_parameters;
static hrt_abstime auth_timeout;
static hrt_abstime auth_req_time;
static enum {
ARM_AUTH_IDLE = 0,
@@ -108,6 +109,7 @@ static uint8_t _auth_method_arm_req_check()
arm_auth_request_msg_send();
hrt_abstime now = hrt_absolute_time();
auth_req_time = now;
auth_timeout = now + (arm_parameters.struct_value.auth_method_param.auth_method_arm_timeout_msec * 1000);
state = ARM_AUTH_WAITING_AUTH;
@@ -160,6 +162,7 @@ static uint8_t _auth_method_two_arm_check()
arm_auth_request_msg_send();
hrt_abstime now = hrt_absolute_time();
auth_req_time = now;
auth_timeout = now + (arm_parameters.struct_value.auth_method_param.auth_method_arm_timeout_msec * 1000);
state = ARM_AUTH_WAITING_AUTH;
@@ -215,7 +218,8 @@ void arm_auth_update(hrt_abstime now, bool param_update)
if (updated
&& command_ack.command == vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST
&& command_ack.target_system == *system_id) {
&& command_ack.target_system == *system_id
&& command_ack.timestamp > auth_req_time) {
switch (command_ack.result) {
case vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS:
state = ARM_AUTH_WAITING_AUTH_WITH_ACK;