diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -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 b8ef73d04..d8dbf9085 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::Vector<2> ¤t_positi // 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::Vector<2> ¤t_positi 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()) { |