Sub: make gcs failsafe timeout a parameter #27503
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Williangalvani
changed the title
Williangalvani
force-pushed
the
gcs_timeout
branch
4 times, most recently
from
f807f5a to
d094268
Compare
Williangalvani
force-pushed
the
gcs_timeout
branch
from
d094268 to
abc1d4b
Compare
peterbarker
requested changes
Jul 14, 2024
ArduSub/defines.h
Outdated
| #ifndef FS_GCS_TIMEOUT_MS | ||
| # define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after this number of milliseconds with no GCS heartbeat | ||
| #ifndef FS_GCS_TIMEOUT_S | ||
| # define FS_GCS_TIMEOUT_S 5.0 // gcs failsafe triggers after this number of milliseconds with no GCS heartbeat |
There was a problem hiding this comment.
Suggested change
| # define FS_GCS_TIMEOUT_S 5.0 // gcs failsafe triggers after this number of milliseconds with no GCS heartbeat | |
| # define FS_GCS_TIMEOUT_S 5.0 // gcs failsafe triggers after this number of seconds with no GCS heartbeat |
There was a problem hiding this comment.
fixed, thanks!
Williangalvani
force-pushed
the
gcs_timeout
branch
from
abc1d4b to
aa24ce9
Compare
peterbarker
reviewed
Jul 25, 2024
ArduSub/failsafe.cpp
Outdated
| @@ -321,7 +321,8 @@ void Sub::failsafe_gcs_check() | |||
| uint32_t tnow = AP_HAL::millis(); | |||
|
|
|||
| // Check if we have gotten a GCS heartbeat recently (GCS sysid must match SYSID_MYGCS parameter) | |||
| if (tnow - gcs_last_seen_ms < FS_GCS_TIMEOUT_MS) { | |||
| const float validated_timeout = constrain_float(g.failsafe_gcs_timeout, 2.0, 120); | |||
There was a problem hiding this comment.
I really have my reservations about these constraints - particularly the lower one.
This is magic stuff happening in the code, there's nothing the user can know about this from the parameter description.
I don't think it's unreasonable for the user to set outside the bounds you've put in here.
Are you sure you want to bound things here?
There was a problem hiding this comment.
I agree with you.
I though I had seen that somewhere else but I cant find it anywhere...
Anyway. code updated, thanks for the review
Williangalvani
force-pushed
the
gcs_timeout
branch
from
aa24ce9 to
91277f9
Compare
Williangalvani
force-pushed
the
gcs_timeout
branch
from
91277f9 to
c604f98
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.