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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
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src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp
+25 -19
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@@ -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;