From 3b5ef82193c69bafc9890ca0a16d87f16dbec460 Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Wed, 13 Mar 2019 14:33:02 +0100
Subject: [PATCH] Commander: Added COM_ONB_BOOT_T parameter.
Since onboard controllers bootup times are hardware dependent, it makes sense to have the possibility to adapt timeout time according to the specific HW.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
src/modules/commander/Commander.cpp | 5 +++--
src/modules/commander/Commander.hpp | 4 +++-
src/modules/commander/commander_params.c | 16 +++++++++++++++-
3 files changed, 21 insertions(+), 4 deletions(-)
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 23c899a9f0..a22e8a21c9 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3964,14 +3964,15 @@ void Commander::data_link_check(bool &status_changed)
if (status_flags.avoidance_system_required && !_onboard_controller_lost) {
//if avoidance never started
- if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 10_s
+ if (_datalink_last_heartbeat_avoidance_system == 0
+ && hrt_elapsed_time(&_avoidance_system_not_started) > _onboard_boot_timeout.get() * 1_s
&& avoidance_waiting_count < AVOIDANCE_MAX_TRIALS) {
_avoidance_system_not_started = hrt_absolute_time();
mavlink_log_info(&mavlink_log_pub, "Waiting for avoidance system to start");
avoidance_waiting_count++;
} else if (avoidance_waiting_count == AVOIDANCE_MAX_TRIALS) {
- mavlink_log_critical(&mavlink_log_pub, "Avoidance system not responding. Try reboot vehicle.");
+ mavlink_log_critical(&mavlink_log_pub, "Avoidance not responding. Try reboot vehicle.");
avoidance_waiting_count++;
}
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 82c3648385..89a1c640c0 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -117,7 +117,9 @@ private:
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
- (ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid
+ (ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
+ (ParamInt<px4::params::COM_ONB_BOOT_T>) _onboard_boot_timeout
+
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index e3b0313116..336bceafdc 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -805,4 +805,18 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
* @reboot_required true
* @group Mission
*/
-PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
\ No newline at end of file
+PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
+
+/**
+ * Set onboard controller bootup timeout
+ *
+ * This parameter defines the bootup timeout.
+ * After the timeout a mavlink message to warn the user that the system
+ * is still booting up is triggered.
+ *
+ * @group Commander
+ * @unit s
+ * @min 0
+ * @max 120
+ */
+PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 15);
\ No newline at end of file
--
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