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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 15:40:11 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 15:40:11 +0200 |
commit | e7313683cdee3e436518fd88cbc403c7251673f7 (patch) | |
tree | e47fa29f07ef163ca95e38193f29a62d4cccf1a2 /src/modules/commander/commander.cpp | |
parent | 6da52c5543012a1391c5e5c4384434c1292b919b (diff) | |
parent | 47f151d4cefa5d7a9da34d6139aa493259f8b2fd (diff) | |
download | px4-firmware-e7313683cdee3e436518fd88cbc403c7251673f7.tar.gz px4-firmware-e7313683cdee3e436518fd88cbc403c7251673f7.tar.bz2 px4-firmware-e7313683cdee3e436518fd88cbc403c7251673f7.zip |
Merge remote-tracking branch 'upstream/master' into swissfang
Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 23 |
1 files changed, 16 insertions, 7 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bf15bbeb6..9ebe006f0 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -775,6 +775,8 @@ int commander_thread_main(int argc, char *argv[]) // CIRCUIT BREAKERS status.circuit_breaker_engaged_power_check = false; status.circuit_breaker_engaged_airspd_check = false; + status.circuit_breaker_engaged_enginefailure_check = false; + status.circuit_breaker_engaged_gpsfailure_check = false; /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); @@ -980,8 +982,8 @@ int commander_thread_main(int argc, char *argv[]) int32_t ef_throttle_thres = 1.0f; int32_t ef_current2throttle_thres = 0.0f; int32_t ef_time_thres = 1000.0f; - uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine - was healty*/ + uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */ + /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = false; bool main_state_changed = false; @@ -1028,8 +1030,14 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); - status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); - status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); + status.circuit_breaker_engaged_power_check = + circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); + status.circuit_breaker_engaged_airspd_check = + circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); + status.circuit_breaker_engaged_enginefailure_check = + circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY); + status.circuit_breaker_engaged_gpsfailure_check = + circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY); status_changed = true; @@ -1417,8 +1425,9 @@ int commander_thread_main(int argc, char *argv[]) } /* check if GPS fix is ok */ - if (gps_position.fix_type >= 3 && //XXX check eph and epv ? - hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) { + if (status.circuit_breaker_engaged_gpsfailure_check || + (gps_position.fix_type >= 3 && + hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) { /* handle the case where gps was regained */ if (status.gps_failure) { status.gps_failure = false; @@ -1615,7 +1624,7 @@ int commander_thread_main(int argc, char *argv[]) /* Check engine failure * only for fixed wing for now */ - if (!circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY) && + if (!status.circuit_breaker_engaged_enginefailure_check && status.is_rotary_wing == false && armed.armed && ((actuator_controls.control[3] > ef_throttle_thres && |