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commander: respect COM_CPU_MAX for overload and adjust default threshold

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Daniel Agar 2022-10-19 20:25:06 -04:00 committed by GitHub
parent 309465858a
commit fe80e7aa46
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 5 additions and 3 deletions
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3
src/modules/commander/Commander.cpp
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@ -2253,8 +2253,9 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
cpuload_s cpuload;
if (_cpuload_sub.copy(&cpuload)) {
const float cpuload_percent = cpuload.load * 100.f;
bool overload = (cpuload.load > 0.95f) || (cpuload.ram_usage > 0.98f);
bool overload = (cpuload_percent > _param_com_cpu_max.get()) || (cpuload.ram_usage > 0.99f);
if (_overload_start == 0 && overload) {
_overload_start = time_now_us;

3
src/modules/commander/Commander.hpp
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@ -324,6 +324,7 @@ private:
(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_com_rc_override,
(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
(ParamFloat<px4::params::COM_CPU_MAX>) _param_com_cpu_max
)
};

2
src/modules/commander/commander_params.c
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@ -954,7 +954,7 @@ PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f);
* @max 100
* @increment 1
*/
PARAM_DEFINE_FLOAT(COM_CPU_MAX, 90.0f);
PARAM_DEFINE_FLOAT(COM_CPU_MAX, 95.0f);
/**
* Required number of redundant power modules