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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-28 10:44:28 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-28 10:44:28 +0400 |
| commit | a991ebd8ca4aa1dc6fd69e307a74be6a93f4e6ff (patch) | |
| tree | 6f96a4c1e8814cb9232b6b1f94a0f7be4d87116e /src/modules/commander | |
| parent | 83da4ae02dfc61d6a7f80ae40660826fbbca81be (diff) | |
| parent | 9b1de5004c673ebe8bdf68f1b518565cccd6b05b (diff) | |
| download | px4-firmware-a991ebd8ca4aa1dc6fd69e307a74be6a93f4e6ff.tar.gz px4-firmware-a991ebd8ca4aa1dc6fd69e307a74be6a93f4e6ff.tar.bz2 px4-firmware-a991ebd8ca4aa1dc6fd69e307a74be6a93f4e6ff.zip | |
Merge branch 'master' into mpc_local_pos
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7da062961..bc63c810b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -119,6 +119,7 @@ extern struct system_load_s system_load; #define POSITION_TIMEOUT 20000 /**< consider the local or global position estimate invalid after 20ms */ #define RC_TIMEOUT 100000 +#define RC_TIMEOUT_HIL 500000 #define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 @@ -1099,8 +1100,16 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); } + + /* + * 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 */ - 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 */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; |