From 2a90f7e9c002ee80177b436f2fd0e5d196f3ea95 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Mon, 29 Aug 2016 22:47:07 +0200
Subject: [PATCH] commander: Running a bit low on space
---
src/modules/commander/commander.cpp | 16 ++++------------
1 file changed, 4 insertions(+), 12 deletions(-)
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 32d091b844..c91d7ab314 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -299,7 +299,7 @@ int commander_main(int argc, char *argv[])
daemon_task = px4_task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 40,
- 3000,
+ 3100,
commander_thread_main,
(char * const *)&argv[0]);
@@ -1084,7 +1084,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST:
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
- case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND:
case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
/* ignore commands that handled in low prio loop */
break;
@@ -2929,20 +2928,13 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
void
control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed, battery_status_s *battery_local, const cpuload_s *cpuload_local)
{
- bool overload = (cpuload_local->load > 0.75f) || (cpuload_local->ram_usage > 0.98f);
-
/* driving rgbled */
if (changed) {
bool set_normal_color = false;
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
/* set mode */
- if (overload) {
- rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
- rgbled_set_color(RGBLED_COLOR_PURPLE);
- set_normal_color = false;
-
- } else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+ if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
rgbled_set_mode(RGBLED_MODE_ON);
set_normal_color = true;
@@ -3004,8 +2996,8 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
#endif
- /* give system warnings on error LED */
- if (overload) {
+ /* give system warnings on error LED, XXX maybe add memory usage warning too */
+ if (cpuload_local->load > 0.95f) {
if (leds_counter % 2 == 0) {
led_toggle(LED_AMBER);
}
--
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