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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 11:20:30 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 11:20:30 +0200 |
| commit | d4c0dc2ba0271f4d9c8044fd2a3a178cbb9987e3 (patch) | |
| tree | 207df1dee8933351a7c41aac49baf0e2eaeed48f /src | |
| parent | 1072a3380c2d6bdea010bb5091c6d0b23fe6f224 (diff) | |
| download | px4-firmware-d4c0dc2ba0271f4d9c8044fd2a3a178cbb9987e3.tar.gz px4-firmware-d4c0dc2ba0271f4d9c8044fd2a3a178cbb9987e3.tar.bz2 px4-firmware-d4c0dc2ba0271f4d9c8044fd2a3a178cbb9987e3.zip | |
add and activate circuit breaker for gps failure detection
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 5 | ||||
| -rw-r--r-- | src/modules/systemlib/circuit_breaker.c | 14 | ||||
| -rw-r--r-- | src/modules/systemlib/circuit_breaker.h | 1 |
3 files changed, 18 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bf15bbeb6..b86f3678b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1417,8 +1417,9 @@ int commander_thread_main(int argc, char *argv[]) } /* check if GPS fix is ok */ - if (gps_position.fix_type >= 3 && //XXX check eph and epv ? - hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) { + if (circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY) || + (gps_position.fix_type >= 3 && + hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) { /* handle the case where gps was regained */ if (status.gps_failure) { status.gps_failure = false; diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c index 83c8344d5..12187d70e 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker.c @@ -122,6 +122,20 @@ PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212); */ PARAM_DEFINE_INT32(CBRK_ENGINEFAIL, 284953); +/** + * Circuit breaker for gps failure detection + * + * Setting this parameter to 240024 will disable the gps failure detection. + * If the aircraft is in gps failure mode the gps failure flag will be + * set to healthy + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 240024 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_GPSFAIL, 240024); + bool circuit_breaker_enabled(const char* breaker, int32_t magic) { int32_t val; diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index 6a55e4948..b3431722f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -55,6 +55,7 @@ #define CBRK_AIRSPD_CHK_KEY 162128 #define CBRK_FLIGHTTERM_KEY 121212 #define CBRK_ENGINEFAIL_KEY 284953 +#define CBRK_GPSFAIL_KEY 240024 #include <stdbool.h> |