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Code Issues Releases Activity

OP-192 Flight/ManualControl: Correctly convert to ms in timeout code so system

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will automatically disarm after 30 seconds without motor.  This behavior will
need to be parameterized for planes which might idle for a while.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2181 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-12-01 22:12:01 +00:00 committed by peabody124
parent 3069f81000
commit 4f21bee0d7
1 changed files with 10 additions and 5 deletions
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15
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
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@ -283,13 +283,18 @@ static void manualControlTask(void *parameters)
ManualControlCommandSet(&cmd);
}
if(cmd.Throttle < 0 && !lowThrottleDetected) {
if((cmd.Throttle < 0) && !lowThrottleDetected) {
lowThrottleDetected = 1;
lowThrottleStart = lastSysTime;
} else if (cmd.Throttle)
} else if (cmd.Throttle >= 0)
lowThrottleDetected = 0;
else if((cmd.Throttle < 0) && (timeDifferenceMs(lowThrottleStart, lastSysTime) > ARMED_TIMEOUT_MS))
else if((cmd.Throttle < 0) && (timeDifferenceMs(lowThrottleStart, lastSysTime) > ARMED_TIMEOUT_MS)) {
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd);
}
/* Look for arm or disarm signal */
if ((cmd.Throttle <= 0.05) && (cmd.Roll <= -0.95)) {
@ -363,8 +368,8 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
if(end_time > start_time)
return (end_time - start_time) / portTICK_RATE_MS;
return ((((portTICK_RATE_MS) -1) - start_time) + end_time) / portTICK_RATE_MS;
return (end_time - start_time) * portTICK_RATE_MS;
return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
}