From e14e5b9d73e8191fdfbda26c7110c8a1fe504d98 Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Tue, 19 Mar 2019 15:54:59 +0100
Subject: [PATCH] Commander: Changed COM_ONB_BOOT_T parameter to COM_OA_BOOT_T.
Since the time out is only Obstacle-Avoidance related, the new naming is more self explanatory.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
src/modules/commander/Commander.cpp | 2 +-
src/modules/commander/Commander.hpp | 2 +-
src/modules/commander/commander_params.c | 12 ++++++------
3 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 3199ae8bb0..cab3998489 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3967,7 +3967,7 @@ void Commander::data_link_check(bool &status_changed)
//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0
- && hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _onboard_boot_timeout.get() * 1_s) {
+ && hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _oa_boot_timeout.get() * 1_s) {
if (!print_msg_once) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available!");
print_msg_once = true;
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 89a1c640c0..012cbd19b5 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -118,7 +118,7 @@ private:
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
- (ParamInt<px4::params::COM_ONB_BOOT_T>) _onboard_boot_timeout
+ (ParamInt<px4::params::COM_OA_BOOT_T>) _oa_boot_timeout
)
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index b5d442637e..f27e9f1883 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -798,7 +798,7 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
/**
- * Flag to enable obstacle avoidance
+ * Flag to enable obstacle avoidance.
*
* @boolean
* @group Mission
@@ -806,14 +806,14 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
/**
- * Set onboard controller bootup timeout
+ * Set avoidance system bootup timeout.
*
- * This parameter defines the bootup timeout.
- * After the timeout, a mavlink message that tells the user that the avoidance system
- * is not available is sent.
+ * The avoidance system running on the companion computer is expected to boot
+ * within this time and start providing trajectory points.
+ * If no avoidance system is detected a MAVLink warning message is sent.
* @group Commander
* @unit s
* @min 0
* @max 200
*/
-PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 100);
\ No newline at end of file
+PARAM_DEFINE_INT32(COM_OA_BOOT_T, 100);
\ No newline at end of file
--
GitLab