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Style fix and iridium signal check rate fix

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This commit is contained in:
acfloria
2018-01-10 16:04:14 +01:00
committed by Beat Küng
parent 1223a9abd5
commit 00f6ef1d2f
1 changed files with 15 additions and 8 deletions
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23
src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
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@@ -78,7 +78,7 @@ int IridiumSBD::start(int argc, char *argv[])
IridiumSBD::instance = new IridiumSBD();
IridiumSBD::task_handle = px4_task_spawn_cmd("iridiumsbd", SCHED_DEFAULT,
SCHED_PRIORITY_SLOW_DRIVER, 1150, (main_t)&IridiumSBD::main_loop_helper, argv);
SCHED_PRIORITY_SLOW_DRIVER, 1200, (main_t)&IridiumSBD::main_loop_helper, argv);
return OK;
}
@@ -253,9 +253,9 @@ void IridiumSBD::main_loop(int argc, char *argv[])
param_pointer = param_find("ISBD_READ_INT");
param_get(param_pointer, &param_read_interval_s);
if (param_read_interval_s < 0) {
param_read_interval_s = 10;
}
// if (param_read_interval_s < 0) {
// param_read_interval_s = 10;
// }
param_pointer = param_find("ISBD_SBD_TIMEOUT");
param_get(param_pointer, &param_session_timeout_s);
@@ -325,7 +325,7 @@ void IridiumSBD::standby_loop(void)
// check for incoming SBDRING, handled inside read_at_command()
read_at_command();
if (param_read_interval_s != 0 && ((int64_t)(hrt_absolute_time() - last_read_time) > param_read_interval_s * 1000000)) {
if (param_read_interval_s > 0 && ((int64_t)(hrt_absolute_time() - last_read_time) > param_read_interval_s * 1000000)) {
rx_session_pending = true;
}
@@ -387,7 +387,6 @@ void IridiumSBD::csq_loop(void)
}
signal_quality = rx_command_buf[5] - 48;
last_signal_check = hrt_absolute_time();
VERBOSE_INFO("SIGNAL QUALITY: %d", signal_quality);
@@ -401,7 +400,10 @@ void IridiumSBD::sbdsession_loop(void)
int res = read_at_command();
if (res == SATCOM_RESULT_NA) {
if ((int64_t)((hrt_absolute_time() - session_start_time)) > param_session_timeout_s * 1000000) {
if ((param_session_timeout_s > 0)
&& ((int64_t)((hrt_absolute_time() - session_start_time))
> param_session_timeout_s * 1000000)) {
PX4_WARN("SBD SESSION: TIMEOUT!");
new_state = SATCOM_STATE_STANDBY;
}
@@ -506,6 +508,8 @@ void IridiumSBD::start_csq(void)
{
VERBOSE_INFO("UPDATING SIGNAL QUALITY");
last_signal_check = hrt_absolute_time();
if (!is_modem_ready()) {
VERBOSE_INFO("UPDATE SIGNAL QUALITY: MODEM NOT READY!");
return;
@@ -526,6 +530,7 @@ void IridiumSBD::start_sbd_session(void)
if (ring_pending) {
write_at("AT+SBDIXA");
} else {
write_at("AT+SBDIX");
}
@@ -559,6 +564,7 @@ void IridiumSBD::start_test(void)
PX4_INFO("TEST %s", test_command);
write_at(test_command);
new_state = SATCOM_STATE_TEST;
} else {
PX4_WARN("The test command does not include AT or at: %s, ignoring it.", test_command);
new_state = SATCOM_STATE_STANDBY;
@@ -861,7 +867,8 @@ pollevent_t IridiumSBD::poll_state(struct file *filp)
return pollstate;
}
void IridiumSBD::publish_telemetry_status() {
void IridiumSBD::publish_telemetry_status()
{
// publish telemetry status for logger
struct telemetry_status_s tstatus = {};