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fix(commander): rename timeout for clarity, increase esc_telemetry_timeout (#27241)

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Michael Fritsche
2026-05-08 10:23:42 +02:00
committed by GitHub
parent 56588a5cd9
commit b8ccde428c
2 changed files with 3 additions and 3 deletions
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src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+2 -2
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@@ -123,11 +123,11 @@ uint16_t EscChecks::checkEscOnline(const Context &context, Report &reporter, con
continue; // Skip unmapped ESC status entries continue; // Skip unmapped ESC status entries
} }
const bool timeout = now > esc_status.esc[esc_index].timestamp + ESC_TIMEOUT_US; const bool esc_telemetry_timeout = now > esc_status.esc[esc_index].timestamp + ESC_TIMEOUT_US;
const bool is_offline = (esc_status.esc_online_flags & (1 << esc_index)) == 0; const bool is_offline = (esc_status.esc_online_flags & (1 << esc_index)) == 0;
// Set failure bits for this motor // Set failure bits for this motor
if (timeout || is_offline) { if (esc_telemetry_timeout || is_offline) {
mask |= (1u << esc_index); mask |= (1u << esc_index);
uint8_t esc_nr = esc_index + 1; uint8_t esc_nr = esc_index + 1;
src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
+1 -1
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@@ -58,7 +58,7 @@ private:
uint16_t checkMotorStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now); uint16_t checkMotorStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now);
void updateEscsStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now); void updateEscsStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now);
static constexpr hrt_abstime ESC_TIMEOUT_US = 300_ms; static constexpr hrt_abstime ESC_TIMEOUT_US = 400_ms;
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)}; uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)}; uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};