From fe80e7aa468a50bec6b035d0e8e4e37e516c84ff Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 19 Oct 2022 20:25:06 -0400
Subject: [PATCH] commander: respect COM_CPU_MAX for overload and adjust
 default threshold

---
 src/modules/commander/Commander.cpp      | 3 ++-
 src/modules/commander/Commander.hpp      | 3 ++-
 src/modules/commander/commander_params.c | 2 +-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index e3abcffd8f..b174bfd21b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -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;
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index b7201d70d5..0ea42d1832 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -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
 	)
 };
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 9960e2c45d..74a4e85b1f 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -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