diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-04 20:36:11 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-04 20:36:11 +0400 |
| commit | f12c76538322b433b9abd02290ca718eff3be8a0 (patch) | |
| tree | 5ac1f28672fe47ba227c1774470dba91db487543 /src/modules/commander | |
| parent | 4e6a5ed1e8563a9fc0ac148adee383ea50e7182a (diff) | |
| parent | 2aa9e3bd780ca0d7c97d72c8f3a6973e32ed2cb3 (diff) | |
| download | px4-firmware-f12c76538322b433b9abd02290ca718eff3be8a0.tar.gz px4-firmware-f12c76538322b433b9abd02290ca718eff3be8a0.tar.bz2 px4-firmware-f12c76538322b433b9abd02290ca718eff3be8a0.zip | |
Merge branch 'master' into mpc_local_pos
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 13 |
1 files changed, 2 insertions, 11 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7257cb4b3..47e630d07 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -118,8 +118,7 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) #define POSITION_TIMEOUT 30000 /**< consider the local or global position estimate invalid after 30ms */ -#define RC_TIMEOUT 100000 -#define RC_TIMEOUT_HIL 500000 +#define RC_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 @@ -1144,16 +1143,8 @@ 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; |