AP_DDS: Status Message #28337
AP_DDS: Status Message #28337
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| @@ -42,6 +43,7 @@ static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33; | |||
| static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10; | |||
| static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000; | |||
| static constexpr uint16_t DELAY_PING_MS = 500; | |||
| static constexpr uint16_t DELAY_STATUS_TOPIC_MS = 500; | |||
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Can we make this event driven instead rather than poll?
This introduces as most 500mS delay on known the vehicle has failsafed which may be a long time.
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Clean commits before merge. |
| msg.flying = AP_Notify::flags.flying; | ||
| uint8_t fs_iter = 0; | ||
| msg.failsafe_size = 0; | ||
| if ( AP_Notify::flags.failsafe_radio ) { |
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nitpick: little whitespace within the brackets
| { | ||
| // Fill the new message. | ||
| msg.vehicle_type = static_cast<uint8_t>(AP::fwversion().vehicle_type); | ||
| msg.armed = AP_Notify::flags.armed; |
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should be hal.util->get_soft_armed()
| msg.vehicle_type = static_cast<uint8_t>(AP::fwversion().vehicle_type); | ||
| msg.armed = AP_Notify::flags.armed; | ||
| msg.mode = AP::vehicle()->get_mode(); | ||
| msg.flying = AP_Notify::flags.flying; |
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should be vehicle->get_likely_flying();
| // Fill the new message. | ||
| msg.vehicle_type = static_cast<uint8_t>(AP::fwversion().vehicle_type); | ||
| msg.armed = AP_Notify::flags.armed; | ||
| msg.mode = AP::vehicle()->get_mode(); |
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should do const auto &vehicle = AP::vehicle();
| const uint8 APM_AP_BOOTLOADER = 11; | ||
| const uint8 APM_BLIMP = 12; | ||
| const uint8 APM_HELI = 13; | ||
| const uint8 FS_RADIO = 1; |
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should this be a separate enum? seems odd to fix FS and APM_xxx
| if ( AP_Notify::flags.failsafe_radio ) { | ||
| msg.failsafe[fs_iter++] = FS_RADIO; | ||
| } | ||
| if ( AP_Notify::flags.failsafe_battery ) { |
| if ( AP_Notify::flags.failsafe_radio ) { | ||
| msg.failsafe[fs_iter++] = FS_RADIO; | ||
| } | ||
| if ( AP_Notify::flags.failsafe_battery ) { |
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I wonder if we could get the battery failsafe state from the battery library.
For RC, EKF and GCS failsafe we probably need to do what you've done here
/ap/statusmessageTest
armedflag changes.Test a failsafe:
BATT_LOW_VOLTto 11.0SIM_BATT_VOLTAGEto 10.6.