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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 13:40:03 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 13:40:03 +0200 |
| commit | d11f05b12c0b0c56703ab14303f91efd123b9dc6 (patch) | |
| tree | a1588e8540b367c1103312a5e95d75f8ca8073d7 /src/modules | |
| parent | 8b7c57a0d050d51f45f8c66536e5450e7a494d73 (diff) | |
| download | px4-firmware-d11f05b12c0b0c56703ab14303f91efd123b9dc6.tar.gz px4-firmware-d11f05b12c0b0c56703ab14303f91efd123b9dc6.tar.bz2 px4-firmware-d11f05b12c0b0c56703ab14303f91efd123b9dc6.zip | |
commander: update gps and engine cb only when changed
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/commander.cpp | 20 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 2 |
2 files changed, 16 insertions, 6 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index b86f3678b..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; @@ -1417,7 +1425,7 @@ int commander_thread_main(int argc, char *argv[]) } /* check if GPS fix is ok */ - if (circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY) || + 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 */ @@ -1616,7 +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 && diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 9dccb2309..505039d90 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -239,6 +239,8 @@ struct vehicle_status_s { bool circuit_breaker_engaged_power_check; bool circuit_breaker_engaged_airspd_check; + bool circuit_breaker_engaged_enginefailure_check; + bool circuit_breaker_engaged_gpsfailure_check; }; /** |