From 7a8002fdabacffbd2db9388e2df2d99f63b61871 Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Wed, 13 Mar 2019 11:32:02 +0100
Subject: [PATCH] Commander: increased hardcoded timeout time for avoidance to
start.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
src/modules/commander/Commander.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 61fa45cef5..23c899a9f0 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3964,14 +3964,14 @@ 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) > 5_s
+ if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 10_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 stuck. Try reboot vehicle.");
+ mavlink_log_critical(&mavlink_log_pub, "Avoidance system not responding. Try reboot vehicle.");
avoidance_waiting_count++;
}
--
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