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Preflight checks: made sure pre-flight check results are always reported first thing on the console and always on new or re-established telemetry links AFTER waiting for the hotplug timeout

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(leads to double publishing on the console when a new link is established, but this is the best compromise between fixing and completely restructuring)
This commit is contained in:
Andreas Antener
2016-11-24 12:19:37 +01:00
committed by Lorenz Meier
parent c069264752
commit e9737d6f7a
2 changed files with 7 additions and 4 deletions
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src/modules/commander/commander.cpp
+7 -2
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@@ -1528,6 +1528,7 @@ int commander_thread_main(int argc, char *argv[])
int telemetry_subs[ORB_MULTI_MAX_INSTANCES];
uint64_t telemetry_last_heartbeat[ORB_MULTI_MAX_INSTANCES];
uint64_t telemetry_last_dl_loss[ORB_MULTI_MAX_INSTANCES];
bool telemetry_preflight_checks_reported[ORB_MULTI_MAX_INSTANCES];
bool telemetry_lost[ORB_MULTI_MAX_INSTANCES];
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
@@ -1535,6 +1536,7 @@ int commander_thread_main(int argc, char *argv[])
telemetry_last_heartbeat[i] = 0;
telemetry_last_dl_loss[i] = 0;
telemetry_lost[i] = true;
telemetry_preflight_checks_reported[i] = false;
}
/* Subscribe to global position */
@@ -1888,8 +1890,9 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(telemetry_status), telemetry_subs[i], &telemetry);
/* perform system checks when new telemetry link connected */
if (/* we first connect a link or re-connect a link after loosing it */
(telemetry_last_heartbeat[i] == 0 || (hrt_elapsed_time(&telemetry_last_heartbeat[i]) > 3 * 1000 * 1000)) &&
if (/* we first connect a link or re-connect a link after loosing it or haven't yet reported anything */
(telemetry_last_heartbeat[i] == 0 || (hrt_elapsed_time(&telemetry_last_heartbeat[i]) > 3 * 1000 * 1000)
|| !telemetry_preflight_checks_reported[i]) &&
/* and this link has a communication partner */
(telemetry.heartbeat_time > 0) &&
/* and it is still connected */
@@ -1898,6 +1901,8 @@ int commander_thread_main(int argc, char *argv[])
!armed.armed) {
hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
/* flag the checks as reported for this link when we actually report them */
telemetry_preflight_checks_reported[i] = hotplug_timeout;
/* provide RC and sensor status feedback to the user */
if (is_hil_setup(autostart_id)) {