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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-11 00:09:10 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-11 00:10:24 +0100 |
| commit | ac7787e2a2a2439a5fa47755dda3f775568330dd (patch) | |
| tree | b62b077becbd12e35367069937f28aca6234060d /src/modules/fw_pos_control_l1 | |
| parent | 187c2a4bcab6e083389e90ca62417cb4629ff9cb (diff) | |
| download | px4-firmware-ac7787e2a2a2439a5fa47755dda3f775568330dd.tar.gz px4-firmware-ac7787e2a2a2439a5fa47755dda3f775568330dd.tar.bz2 px4-firmware-ac7787e2a2a2439a5fa47755dda3f775568330dd.zip | |
launchdetection: send warning to qgc every 4s
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 12 |
1 files changed, 5 insertions, 7 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 04caf0bbc..c90b0313a 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -175,7 +175,6 @@ private: /* takeoff/launch states */ bool launch_detected; bool usePreTakeoffThrust; - bool launch_detection_message_sent; /* Landingslope object */ Landingslope landingslope; @@ -397,8 +396,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _mavlink_fd(-1), launchDetector(), launch_detected(false), - usePreTakeoffThrust(false), - launch_detection_message_sent(false) + usePreTakeoffThrust(false) { /* safely initialize structs */ vehicle_attitude_s _att = {0}; @@ -985,10 +983,11 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio // warnx("Launch detection running"); if(!launch_detected) { //do not do further checks once a launch was detected if (launchDetector.launchDetectionEnabled()) { -// warnx("Launch detection enabled"); - if(!launch_detection_message_sent) { + static hrt_abstime last_sent = 0; + if(hrt_absolute_time() - last_sent > 4e6) { +// warnx("Launch detection running"); mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running"); - launch_detection_message_sent = true; + last_sent = hrt_absolute_time(); } launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); if (launchDetector.getLaunchDetected()) { @@ -1057,7 +1056,6 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio if (mission_item_triplet.current.nav_cmd != NAV_CMD_TAKEOFF) { launch_detected = false; usePreTakeoffThrust = false; - launch_detection_message_sent = false; } if (was_circle_mode && !_l1_control.circle_mode()) { |