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| author | philipoe <philipp.oettershagen@mavt.ethz.ch> | 2014-10-20 16:25:38 +0200 |
|---|---|---|
| committer | philipoe <philipp.oettershagen@mavt.ethz.ch> | 2014-10-20 16:43:11 +0200 |
| commit | 4afa8645832c71ea1c35dc73d9424df80fac531a (patch) | |
| tree | c42f48241adab977c79b459278bd4c7c79b95775 | |
| parent | 5c77fc0012eaaad5b92e1b31cedf8bf5b035b988 (diff) | |
| download | px4-firmware-4afa8645832c71ea1c35dc73d9424df80fac531a.tar.gz px4-firmware-4afa8645832c71ea1c35dc73d9424df80fac531a.tar.bz2 px4-firmware-4afa8645832c71ea1c35dc73d9424df80fac531a.zip | |
commander: Added duration of rc-loss to mavlink_log_critical message
| -rw-r--r-- | src/modules/commander/commander.cpp | 3 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 1 |
2 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 23fdcb414..d8ebee4b6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1499,7 +1499,7 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED (at t=%.3fs)",(double)(hrt_absolute_time())/1.0e6); + mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %.3fs (at t=%.3fs)",(double)(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1.0e6,(double)(hrt_absolute_time())/1.0e6); status_changed = true; } } @@ -1594,6 +1594,7 @@ int commander_thread_main(int argc, char *argv[]) if (!status.rc_signal_lost) { mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%.3fs)",(double)(hrt_absolute_time())/1.0e6); status.rc_signal_lost = true; + status.rc_signal_lost_timestamp=sp_man.timestamp; status_changed = true; } } diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index a1b2667e3..8d797e21a 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -201,6 +201,7 @@ struct vehicle_status_s { bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */ bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_input_blocked; /**< set if RC input should be ignored */ |