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Sub: make gcs failsafe timeout a parameter #27503

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merged 1 commit into from
Jul 31, 2024
Merged

Sub: make gcs failsafe timeout a parameter #27503

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8 changes: 8 additions & 0 deletions ArduSub/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,14 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Standard
GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISARM),

// @Param: FS_GCS_TIMEOUT
// @DisplayName: GCS failsafe timeout
// @Description: Timeout before triggering the GCS failsafe
// @Units: s
// @Increment: 1
// @User: Standard
GSCALAR(failsafe_gcs_timeout, "FS_GCS_TIMEOUT", FS_GCS_TIMEOUT_S),

// @Param: FS_LEAK_ENABLE
// @DisplayName: Leak Failsafe Enable
// @Description: Controls what action to take if a leak is detected.
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2 changes: 2 additions & 0 deletions ArduSub/Parameters.h
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Expand Up @@ -185,6 +185,7 @@ class Parameters {
k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
k_param_failsafe_pilot_input,
k_param_failsafe_pilot_input_timeout,
k_param_failsafe_gcs_timeout,


// Misc Sub settings
Expand Down Expand Up @@ -257,6 +258,7 @@ class Parameters {
AP_Int8 failsafe_terrain;
AP_Int8 failsafe_pilot_input; // pilot input failsafe behavior
AP_Float failsafe_pilot_input_timeout;
AP_Float failsafe_gcs_timeout; // ground station failsafe timeout (seconds)

AP_Int8 xtrack_angle_limit;

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4 changes: 2 additions & 2 deletions ArduSub/defines.h
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Expand Up @@ -79,8 +79,8 @@ enum LoggingParameters {
#ifndef FS_GCS
# define FS_GCS DISABLED
#endif
#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 seconds with no GCS heartbeat
#endif

// missing terrain data failsafe
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3 changes: 2 additions & 1 deletion ArduSub/failsafe.cpp
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Expand Up @@ -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 uint32_t gcs_timeout_ms = uint32_t(constrain_float(g.failsafe_gcs_timeout * 1000.0f, 0.0f, UINT32_MAX));
if (tnow - gcs_last_seen_ms < gcs_timeout_ms) {
// Log event if we are recovering from previous gcs failsafe
if (failsafe.gcs) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
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