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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-27 18:07:39 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-27 18:07:39 +0100 |
| commit | 9b1de5004c673ebe8bdf68f1b518565cccd6b05b (patch) | |
| tree | 5ba9a134acc5ec1f6410701163459d6cf241d7d7 /src | |
| parent | bd290c65f843a81b180fc15c881b7481f52b570a (diff) | |
| parent | 66527eea02ca6c8b1e33047f60bce1b832f82071 (diff) | |
| download | px4-firmware-9b1de5004c673ebe8bdf68f1b518565cccd6b05b.tar.gz px4-firmware-9b1de5004c673ebe8bdf68f1b518565cccd6b05b.tar.bz2 px4-firmware-9b1de5004c673ebe8bdf68f1b518565cccd6b05b.zip | |
Merge pull request #780 from PX4/hotfix_hil_rc_loss
commander: workaround to prevent RC loss in HIL
Diffstat (limited to 'src')
| -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 d114a2e5c..cf7ba757e 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 1000000 /**< consider the local or global position estimate invalid after 1s */ #define RC_TIMEOUT 100000 +#define RC_TIMEOUT_HIL 500000 #define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 @@ -1108,8 +1109,16 @@ int commander_thread_main(int argc, char *argv[]) } } + + /* + * 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; |