From 908cdaa57459b97076b978ac907ea901767dc596 Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Mon, 11 Mar 2019 14:46:05 +0100
Subject: [PATCH] Onboard controller loss parameter cleanup.
Since Timeout from onboard controller is something that does not require a lot of modifications there is no sense to having it parametrized.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
src/modules/commander/Commander.cpp | 2 +-
src/modules/commander/Commander.hpp | 6 ++----
src/modules/commander/commander_params.c | 14 +-------------
3 files changed, 4 insertions(+), 18 deletions(-)
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index e4c4c9e451..d25aa94aaf 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3942,7 +3942,7 @@ void Commander::data_link_check(bool &status_changed)
// ONBOARD CONTROLLER data link loss failsafe (hard coded 5 seconds)
if ((_datalink_last_heartbeat_onboard_controller > 0)
- && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > _onboard_loss_timeout.get() * 1_s)
+ && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > 5_s)
&& !_onboard_controller_lost) {
mavlink_log_critical(&mavlink_log_pub, "Onboard controller lost");
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index ce55e0dd5f..2404c0d4c2 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -117,9 +117,7 @@ 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_ONB_LOSS_T>) _onboard_loss_timeout
+ (ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
@@ -178,7 +176,7 @@ private:
hrt_abstime _datalink_last_heartbeat_gcs{0};
hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
- bool _onboard_controller_lost{0};
+ bool _onboard_controller_lost{false};
hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
bool _avoidance_system_lost{0};
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 7ae305ee91..ab0b5fb788 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -804,16 +804,4 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
* @boolean
* @group Mission
*/
-PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
-
-/**
- * Time-out to wait when onboard connection is lost before triggering onboard lost action.
- * TODO: Define parameters to specify proper action to trigger.
- *
- * @group Commander
- * @unit s
- * @min 0
- * @max 60
- * @increment 1
- */
-PARAM_DEFINE_INT32(COM_ONB_LOSS_T, 5);
\ No newline at end of file
+PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
\ No newline at end of file
--
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