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commander: RC loss delay renaming/reordering

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This commit is contained in:
Matthias Grob
2021-01-18 17:04:05 +01:00
parent e2e5fc85f8
commit b44b770972
5 changed files with 24 additions and 22 deletions
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2
src/modules/commander/Commander.cpp
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@@ -2546,7 +2546,7 @@ Commander::run()
(offboard_loss_actions_t)_param_com_obl_act.get(),
(offboard_loss_rc_actions_t)_param_com_obl_rc_act.get(),
(position_nav_loss_actions_t)_param_com_posctl_navl.get(),
_param_com_ll_delay.get());
_param_com_rcl_act_t.get());
if (nav_state_changed) {
_status.nav_state_timestamp = hrt_absolute_time();

2
src/modules/commander/Commander.hpp
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@@ -189,13 +189,13 @@ private:
(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
(ParamFloat<px4::params::COM_LL_DELAY>) _param_com_ll_delay,
(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
(ParamFloat<px4::params::COM_RCL_ACT_T>) _param_com_rcl_act_t,
(ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,

34
src/modules/commander/commander_params.c
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@@ -174,7 +174,7 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
/**
* RC loss time threshold
*
* After this amount of seconds without RC connection the rc lost flag is set to true
* After this amount of seconds without RC connection it's considered lost and not used anymore
*
* @group Commander
* @unit s
@@ -185,6 +185,23 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
*/
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
/**
* Delay between RC loss and configured reaction
*
* RC signal not updated -> still use data for COM_RC_LOSS_T seconds
* Consider RC signal lost -> wait COM_RCL_ACT_T seconds on the spot waiting to regain signal
* React with failsafe action NAV_RCL_ACT
*
* A zero value disables the delay.
*
* @group Commander
* @unit s
* @min 0.0
* @max 25.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(COM_RCL_ACT_T, 15.0f);
/**
* Home set horizontal threshold
*
@@ -968,18 +985,3 @@ PARAM_DEFINE_FLOAT(COM_LKDOWN_TKO, 3.0f);
* @value 1 Enabled
*/
PARAM_DEFINE_INT32(COM_ARM_ARSP_EN, 1);
/**
* Delay between RC loss and configured reaction
*
* A non-zero, positive value makes the failsafe reaction first stop the vehicle and wait
* before proceeding with the configured failsafe reaction NAV_RCL_ACT.
* A zero or negative value disables the delay.
*
* @group Commander
* @unit s
* @min -1.0
* @max 25.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(COM_LL_DELAY, 15.0f);

6
src/modules/commander/state_machine_helper.cpp
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@@ -409,7 +409,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
const offboard_loss_rc_actions_t offb_loss_rc_act,
const position_nav_loss_actions_t posctl_nav_loss_act,
const float param_com_ll_delay)
const float param_com_rcl_act_t)
{
const navigation_state_t nav_state_old = status->nav_state;
@@ -438,7 +438,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_ll_delay);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else {
switch (internal_state->main_state) {
@@ -474,7 +474,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_ll_delay);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
/* A local position estimate is enough for POSCTL for multirotors,

2
src/modules/commander/state_machine_helper.h
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@@ -132,7 +132,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
const offboard_loss_rc_actions_t offb_loss_rc_act,
const position_nav_loss_actions_t posctl_nav_loss_act,
const float param_com_ll_delay);
const float param_com_rcl_act_t);
/*
* Checks the validty of position data against the requirements of the current navigation