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fixed offboard loss timing handling

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This commit is contained in:
Andreas Antener
2016-06-20 19:03:09 +02:00
parent ced8376268
commit fedb9de6ef
1 changed files with 9 additions and 2 deletions
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src/modules/commander/commander.cpp
+9 -2
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@@ -1668,7 +1668,11 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
if (!status_flags.offboard_control_signal_lost) { if (!status_flags.offboard_control_signal_lost) {
status_flags.offboard_control_signal_lost = true; status_flags.offboard_control_signal_lost = true;
status_changed = true;
}
/* check timer if offboard was there but now lost */
if (!status_flags.offboard_control_loss_timeout && offboard_control_mode.timestamp != 0) {
if (offboard_loss_timeout < FLT_EPSILON) { if (offboard_loss_timeout < FLT_EPSILON) {
/* execute loss action immediately */ /* execute loss action immediately */
status_flags.offboard_control_loss_timeout = true; status_flags.offboard_control_loss_timeout = true;
@@ -1676,9 +1680,12 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
/* wait for timeout if set */ /* wait for timeout if set */
status_flags.offboard_control_loss_timeout = offboard_control_mode.timestamp + status_flags.offboard_control_loss_timeout = offboard_control_mode.timestamp +
OFFBOARD_TIMEOUT + offboard_loss_timeout * 1e6f > hrt_absolute_time(); OFFBOARD_TIMEOUT + offboard_loss_timeout * 1e6f < hrt_absolute_time();
}
if (status_flags.offboard_control_loss_timeout) {
status_changed = true;
} }
status_changed = true;
} }
} }