From 3633ccb5bdba7a12ba0a44b8afc3e7a5258f60b7 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 31 Mar 2013 11:09:40 +0900
Subject: [PATCH] Copter: fix to prevent cli from being entered more than
20seconds after reboot
---
ArduCopter/GCS.h | 6 ++++++
ArduCopter/GCS_Mavlink.pde | 7 ++++++-
ArduCopter/ReleaseNotes.txt | 1 +
ArduCopter/system.pde | 1 +
4 files changed, 14 insertions(+), 1 deletion(-)
diff --git a/ArduCopter/GCS.h b/ArduCopter/GCS.h
index bccc0e140..d8666d316 100644
--- a/ArduCopter/GCS.h
+++ b/ArduCopter/GCS.h
@@ -133,6 +133,8 @@ public:
// see if we should send a stream now. Called at 50Hz
bool stream_trigger(enum streams stream_num);
+ // call to reset the timeout window for entering the cli
+ void reset_cli_timeout();
private:
void handleMessage(mavlink_message_t * msg);
@@ -204,6 +206,10 @@ private:
// number of extra ticks to add to slow things down for the radio
uint8_t stream_slowdown;
+
+ // millis value to calculate cli timeout relative to.
+ // exists so we can separate the cli entry time from the system start time
+ uint32_t _cli_timeout;
};
#endif // __GCS_H
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 44be364e7..2faa2ea70 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -781,6 +781,7 @@ GCS_MAVLINK::init(FastSerial * port)
chan = MAVLINK_COMM_1;
}
_queued_parameter = NULL;
+ reset_cli_timeout();
}
void
@@ -799,7 +800,7 @@ GCS_MAVLINK::update(void)
#if CLI_ENABLED == ENABLED
/* allow CLI to be started by hitting enter 3 times, if no
* heartbeat packets have been received */
- if (mavlink_active == false) {
+ if (mavlink_active == false && (millis() - _cli_timeout) < 20000 && !motors.armed()) {
if (c == '\n' || c == '\r') {
crlf_count++;
} else {
@@ -2045,6 +2046,10 @@ GCS_MAVLINK::queued_waypoint_send()
}
}
+void GCS_MAVLINK::reset_cli_timeout() {
+ _cli_timeout = millis();
+}
+
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 61540c5af..b159cb477 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -8,6 +8,7 @@ Improvements over 2.9.1:
4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew
5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
6) reduce yaw_rate P default to 0.20 (was 0.25)
+7) fix to prevent cli from being entered more than 20seconds after reboot
------------------------------------------------------------------
ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 0655ed20f..8b99b4f09 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -199,6 +199,7 @@ static void init_ardupilot()
} else if (DataFlash.NeedErase()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
do_erase_logs();
+ gcs0.reset_cli_timeout();
}
if (g.log_bitmask != 0) {
DataFlash.start_new_log();
--
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