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drivers/safety_button: only publish safety at 1 Hz or immeidately on change

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This commit is contained in:
Daniel Agar
2020-07-16 12:30:41 -04:00
parent c6aafed9d0
commit 94a5a97dcc
2 changed files with 12 additions and 6 deletions
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src/drivers/safety_button/SafetyButton.cpp
+11 -6
View File
@@ -213,13 +213,18 @@ SafetyButton::Run()
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
FlashButton();
safety_s safety{};
safety.timestamp = hrt_absolute_time();
safety.safety_switch_available = true;
safety.safety_off = _safety_btn_off || _safety_disabled;
const bool safety_off = _safety_btn_off || _safety_disabled;
// publish the safety status
_to_safety.publish(safety);
// publish immediately on change, otherwise at 1 Hz
if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s)
|| (_safety.safety_off != safety_off)) {
_safety.safety_switch_available = true;
_safety.safety_off = safety_off;
_safety.timestamp = hrt_absolute_time();
_to_safety.publish(_safety);
}
}
}
src/drivers/safety_button/SafetyButton.hpp
+1
View File
@@ -84,6 +84,7 @@ private:
uORB::PublicationQueued<led_control_s> _to_led_control{ORB_ID(led_control)};
uORB::Publication<tune_control_s> _to_tune_control{ORB_ID(tune_control)};
safety_s _safety{};
uint8_t _button_counter{0};
uint8_t _blink_counter{0};