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Commander: move static overload_start to class

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This commit is contained in:
Lorenz Meier
2020-11-24 23:57:56 +01:00
committed by Daniel Agar
parent 4f30037980
commit 4b0d8efbc1
2 changed files with 6 additions and 7 deletions
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src/modules/commander/Commander.cpp
+5 -7
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@@ -2764,18 +2764,16 @@ Commander::get_circuit_breaker_params()
void void
Commander::control_status_leds(bool changed, const uint8_t battery_warning) Commander::control_status_leds(bool changed, const uint8_t battery_warning)
{ {
static hrt_abstime overload_start = 0;
bool overload = (_cpuload.load > 0.95f) || (_cpuload.ram_usage > 0.98f); bool overload = (_cpuload.load > 0.95f) || (_cpuload.ram_usage > 0.98f);
if (overload_start == 0 && overload) { if (_overload_start == 0 && overload) {
overload_start = hrt_absolute_time(); _overload_start = hrt_absolute_time();
} else if (!overload) { } else if (!overload) {
overload_start = 0; _overload_start = 0;
} }
/* driving rgbled */ // driving the RGB led
if (changed || _last_overload != overload) { if (changed || _last_overload != overload) {
uint8_t led_mode = led_control_s::MODE_OFF; uint8_t led_mode = led_control_s::MODE_OFF;
uint8_t led_color = led_control_s::COLOR_WHITE; uint8_t led_color = led_control_s::COLOR_WHITE;
@@ -2784,7 +2782,7 @@ Commander::control_status_leds(bool changed, const uint8_t battery_warning)
uint64_t overload_warn_delay = (_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 1_ms : 250_ms; uint64_t overload_warn_delay = (_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 1_ms : 250_ms;
/* set mode */ /* set mode */
if (overload && (hrt_elapsed_time(&overload_start) > overload_warn_delay)) { if (overload && (hrt_elapsed_time(&_overload_start) > overload_warn_delay)) {
led_mode = led_control_s::MODE_BLINK_FAST; led_mode = led_control_s::MODE_BLINK_FAST;
led_color = led_control_s::COLOR_PURPLE; led_color = led_control_s::COLOR_PURPLE;
src/modules/commander/Commander.hpp
+1
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@@ -366,6 +366,7 @@ private:
hrt_abstime _boot_timestamp{0}; hrt_abstime _boot_timestamp{0};
hrt_abstime _last_disarmed_timestamp{0}; hrt_abstime _last_disarmed_timestamp{0};
hrt_abstime _timestamp_engine_healthy{0}; ///< absolute time when engine was healty hrt_abstime _timestamp_engine_healthy{0}; ///< absolute time when engine was healty
hrt_abstime _overload_start{0}; ///< time when CPU overload started
uint32_t _counter{0}; uint32_t _counter{0};
uint8_t _heading_reset_counter{0}; uint8_t _heading_reset_counter{0};