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commander: add COM_OBC_LOSS_T for setting onboard computer loss time-out

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This commit is contained in:
TSC21
2021-03-01 09:31:59 +01:00
committed by Beat Küng
parent e9370c658a
commit 7abce87ae4
3 changed files with 15 additions and 2 deletions
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4
src/modules/commander/Commander.cpp
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@@ -3510,9 +3510,9 @@ void Commander::data_link_check()
}
}
// ONBOARD CONTROLLER data link loss failsafe (hard coded 5 seconds)
// ONBOARD CONTROLLER data link loss failsafe
if ((_datalink_last_heartbeat_onboard_controller > 0)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > 5_s)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > (_param_com_obc_loss_t.get() * 1_s))
&& !_onboard_controller_lost) {
mavlink_log_critical(&_mavlink_log_pub, "Connection to mission computer lost");

2
src/modules/commander/Commander.hpp
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@@ -219,6 +219,8 @@ private:
(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile,
(ParamFloat<px4::params::COM_OBC_LOSS_T>) _param_com_obc_loss_t,
// Offboard
(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,

11
src/modules/commander/commander_params.c
View File

@@ -388,6 +388,17 @@ PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
*/
PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
/**
* Time-out to wait when onboard computer connection is lost before warning about loss connection.
*
* @group Commander
* @unit s
* @min 0
* @max 60
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(COM_OBC_LOSS_T, 5.0f);
/**
* First flightmode slot (1000-1160)
*