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Merge pull request #780 from PX4/hotfix_hil_rc_loss

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commander: workaround to prevent RC loss in HIL
This commit is contained in:
Thomas Gubler
2014-03-27 18:07:39 +01:00
parent bd290c65f8 66527eea02
commit 9b1de5004c
1 changed files with 10 additions and 1 deletions
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src/modules/commander/commander.cpp
+10 -1
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@@ -119,6 +119,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ #define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
#define RC_TIMEOUT 100000 #define RC_TIMEOUT 100000
#define RC_TIMEOUT_HIL 500000
#define DIFFPRESS_TIMEOUT 2000000 #define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000 #define PRINT_INTERVAL 5000000
@@ -1108,8 +1109,16 @@ int commander_thread_main(int argc, char *argv[])
} }
} }
/*
* XXX workaround:
* Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
* which can trigger RC loss if the computer/simulator lags.
*/
uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
/* start RC input check */ /* start RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
/* handle the case where RC signal was regained */ /* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) { if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true; status.rc_signal_found_once = true;