yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Commander: Rate-limit preflight check

Browse Source
This commit is contained in:
Lorenz Meier
2016-01-22 11:31:39 +01:00
parent 9c6f4de753
commit 19b81b9ab2
1 changed files with 14 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/modules/commander/state_machine_helper.cpp
View File

@@ -97,6 +97,9 @@ static const char * const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"ARMING_STATE_IN_AIR_RESTORE",
};
static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately
static int last_prearm_ret = 1; ///< initialize to fail
transition_result_t
arming_state_transition(struct vehicle_status_s *status, ///< current vehicle status
const struct safety_s *safety, ///< current safety settings
@@ -132,12 +135,18 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status->condition_system_sensors_initialized
&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED ||
new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = preflight_check(status, mavlink_fd, false /* pre-flight */);
status->condition_system_sensors_initialized = !prearm_ret;
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
prearm_ret = preflight_check(status, mavlink_fd, false /* pre-flight */);
status->condition_system_sensors_initialized = !prearm_ret;
last_preflight_check = hrt_absolute_time();
last_prearm_ret = prearm_ret;
} else {
prearm_ret = last_prearm_ret;
}
}
/*