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AP_DroneCAN: send arming state on-change #24987

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AP_DroneCAN: send arming state on-change #24987

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15 changes: 11 additions & 4 deletions libraries/AP_DroneCAN/AP_DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1056,12 +1056,19 @@ void AP_DroneCAN::gnss_send_yaw()
// SafetyState send
void AP_DroneCAN::safety_state_send()
{
uint32_t now = AP_HAL::millis();
if (now - _last_safety_state_ms < 500) {
// update at 2Hz
const uint32_t now_ms = AP_HAL::millis();
const uint32_t armed_change_age_ms = (now_ms - hal.util->get_last_armed_change());
const uint32_t interval_ms = (armed_change_age_ms <= 1000) ? 100 : 500;
const bool arm_just_changed = (armed_change_age_ms <= 2);

if (!arm_just_changed && (now_ms - _last_safety_state_ms < interval_ms)) {
// when to send packets:
// - steady-state 2Hz
// - on-change immediately (if <=2ms ago)
// - on-change 10Hz for 1000ms
return;
}
_last_safety_state_ms = now;
_last_safety_state_ms = now_ms;

{ // handle SafetyState
ardupilot_indication_SafetyState safety_msg;
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