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Fix position health flags on GPS loss #807

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merged 1 commit into from
Jul 22, 2019
Merged

Fix position health flags on GPS loss #807

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21 changes: 18 additions & 3 deletions src/plugins/telemetry/telemetry_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,15 +79,21 @@ void TelemetryImpl::init()

void TelemetryImpl::deinit()
{
_parent->unregister_timeout_handler(_timeout_cookie);
_parent->unregister_timeout_handler(_rc_channels_timeout_cookie);
_parent->unregister_timeout_handler(_gps_raw_timeout_cookie);
_parent->unregister_param_changed_handler(this);
_parent->unregister_all_mavlink_message_handlers(this);
}

void TelemetryImpl::enable()
{
_parent->register_timeout_handler(
std::bind(&TelemetryImpl::receive_rc_channels_timeout, this), 1.0, &_timeout_cookie);
std::bind(&TelemetryImpl::receive_rc_channels_timeout, this),
1.0,
&_rc_channels_timeout_cookie);

_parent->register_timeout_handler(
std::bind(&TelemetryImpl::receive_gps_raw_timeout, this), 2.0, &_gps_raw_timeout_cookie);

// FIXME: The calibration check should eventually be better than this.
// For now, we just do the same as QGC does.
Expand Down Expand Up @@ -494,6 +500,8 @@ void TelemetryImpl::process_gps_raw_int(const mavlink_message_t& message)
auto arg = get_gps_info();
_parent->call_user_callback([callback, arg]() { callback(arg); });
}

_parent->refresh_timeout_handler(_gps_raw_timeout_cookie);
}

void TelemetryImpl::process_extended_sys_state(const mavlink_message_t& message)
Expand Down Expand Up @@ -624,7 +632,7 @@ void TelemetryImpl::process_rc_channels(const mavlink_message_t& message)
_parent->call_user_callback([callback, arg]() { callback(arg); });
}

_parent->refresh_timeout_handler(_timeout_cookie);
_parent->refresh_timeout_handler(_rc_channels_timeout_cookie);
}

Telemetry::FlightMode TelemetryImpl::to_flight_mode_from_custom_mode(uint32_t custom_mode)
Expand Down Expand Up @@ -731,6 +739,13 @@ void TelemetryImpl::receive_rc_channels_timeout()
set_rc_status(rc_ok, 0.0f);
}

void TelemetryImpl::receive_gps_raw_timeout()
{
const bool position_ok = false;
set_health_local_position(position_ok);
set_health_global_position(position_ok);
}

Telemetry::PositionVelocityNED TelemetryImpl::get_position_velocity_ned() const
{
std::lock_guard<std::mutex> lock(_position_velocity_ned_mutex);
Expand Down
4 changes: 3 additions & 1 deletion src/plugins/telemetry/telemetry_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,7 @@ class TelemetryImpl : public PluginImplBase {
void receive_param_hitl(MAVLinkParameters::Result result, int value);

void receive_rc_channels_timeout();
void receive_gps_raw_timeout();

static Telemetry::Result
telemetry_result_from_command_result(MAVLinkCommands::Result command_result);
Expand Down Expand Up @@ -222,6 +223,7 @@ class TelemetryImpl : public PluginImplBase {
double _ground_speed_ned_rate_hz{0.0};
double _position_rate_hz{-1.0};

void* _timeout_cookie{nullptr};
void* _rc_channels_timeout_cookie{nullptr};
void* _gps_raw_timeout_cookie{nullptr};
};
} // namespace mavsdk