Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-30 13:15:32 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

esc_calibration: handle timeout wraps better

Browse Source 
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
This commit is contained in:
Matthias Grob
2023-06-15 16:10:36 +02:00
parent cfb24869e9
commit 053d3020b0
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/esc_calibration.cpp
+3 -3
View File
@@ -61,7 +61,7 @@ bool check_battery_disconnected(orb_advert_t *mavlink_log_pub)
uORB::SubscriptionData<battery_status_s> battery_status_sub{ORB_ID(battery_status)}; uORB::SubscriptionData<battery_status_s> battery_status_sub{ORB_ID(battery_status)};
battery_status_sub.update(); battery_status_sub.update();
const bool recent_battery_measurement = (hrt_absolute_time() - battery_status_sub.get().timestamp) < 1_s; const bool recent_battery_measurement = hrt_absolute_time() < (battery_status_sub.get().timestamp + 1_s);
if (!recent_battery_measurement) { if (!recent_battery_measurement) {
// We have to send this message for now because "battery unavailable" gets ignored by QGC // We have to send this message for now because "battery unavailable" gets ignored by QGC
@@ -121,7 +121,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub)
hrt_abstime now = hrt_absolute_time(); hrt_abstime now = hrt_absolute_time();
battery_status_sub.update(); battery_status_sub.update();
if ((now - timeout_start) < 1_s && (battery_status_sub.get().current_a > current_before_calibration + 1.f)) { if (now > (timeout_start + 1_s) && (battery_status_sub.get().current_a > current_before_calibration + 1.f)) {
// Safety termination, current rises immediately, user didn't unplug power before // Safety termination, current rises immediately, user didn't unplug power before
calibration_failed = true; calibration_failed = true;
break; break;
@@ -132,7 +132,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub)
break; break;
} }
if ((now - timeout_start) > 6_s) { if (now > (timeout_start + 6_s)) {
// Timeout, we continue since maybe the battery cannot be detected properly // Timeout, we continue since maybe the battery cannot be detected properly
// If we abort here and the ESCs are infact connected and started calibrating // If we abort here and the ESCs are infact connected and started calibrating
// they will measure the disarmed value as the lower limit instead of the fixed 1000us // they will measure the disarmed value as the lower limit instead of the fixed 1000us