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commander: changes when USB connected

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- skip avionics rail voltage check when USB connected
 - skip forced reboot on USB disconnect if circuit breaker set
 - avionics voltage preflight check don't silently fail if system_power unavailble
     - explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK)
This commit is contained in:
Daniel Agar
2020-05-06 13:53:54 -04:00
parent 746a8f5cf9
commit 04113b4d57
27 changed files with 77 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+2 -4
View File
@@ -65,9 +65,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
&& !status_flags.condition_calibration_enabled);
const bool checkSensors = !hil_enabled;
const bool checkRC = (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT);
const bool checkDynamic = !hil_enabled;
const bool checkPower = (status_flags.condition_power_input_valid && !status_flags.circuit_breaker_engaged_power_check);
bool checkAirspeed = false;
@@ -245,7 +243,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
}
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT) {
if (rcCalibrationCheck(mavlink_log_pub, reportFailures, status.is_vtol) != OK) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
@@ -265,7 +263,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
}
/* ---- SYSTEM POWER ---- */
if (checkPower) {
if (status_flags.condition_power_input_valid && !status_flags.circuit_breaker_engaged_power_check) {
if (!powerCheck(mavlink_log_pub, status, reportFailures, prearm)) {
failed = true;
}
src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp
+25 -19
View File
@@ -54,31 +54,37 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
system_power_sub.update();
const system_power_s &system_power = system_power_sub.get();
if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) {
if (hrt_elapsed_time(&system_power.timestamp) < 1_s) {
// Check avionics rail voltages (if USB isn't connected)
if (!system_power.usb_connected) {
float avionics_power_rail_voltage = system_power.voltage5v_v;
/* copy avionics voltage */
float avionics_power_rail_voltage = system_power.voltage5v_v;
if (avionics_power_rail_voltage < 4.5f) {
success = false;
// avionics rail
// Check avionics rail voltages
if (avionics_power_rail_voltage < 4.5f) {
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
}
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage < 4.9f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage < 4.9f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage > 5.4f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage);
} else if (avionics_power_rail_voltage > 5.4f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage);
}
}
}
} else {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "system power unavailable");
}
success = false;
}
return success;