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Mavlink add RADIO_STATUS timeout and reset

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Daniel Agar
2018-09-02 12:03:10 -04:00
committed by Lorenz Meier
parent 930ac8d4fe
commit 7e12815f81
1 changed files with 11 additions and 0 deletions
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src/modules/mavlink/mavlink_main.cpp
+11
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@@ -1597,6 +1597,17 @@ Mavlink::update_rate_mult()
hardware_mult = (_tstatus.rate_tx) / (_tstatus.rate_tx + _tstatus.rate_txerr);
} else if (_radio_status_available) {
// check for RADIO_STATUS timeout and reset
if (hrt_elapsed_time(&_rstatus.timestamp) > 5_s) {
PX4_ERR("instance %d: RADIO_STATUS timeout", _instance_id);
set_telemetry_status_type(telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_GENERIC);
_radio_status_available = false;
_radio_status_critical = false;
_radio_status_mult = 1.0f;
}
hardware_mult *= _radio_status_mult;
}