fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 12:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: changes when USB connected

Browse Source 
- 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
2020-05-04 13:07:58 -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/Commander.cpp
+18 -14
View File
@@ -1436,7 +1436,7 @@ Commander::run()
system_power_s system_power{};
_system_power_sub.copy(&system_power);
if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) {
if (hrt_elapsed_time(&system_power.timestamp) < 1_s) {
if (system_power.servo_valid &&
!system_power.brick_valid &&
!system_power.usb_connected) {
@@ -1449,24 +1449,28 @@ Commander::run()
#if defined(CONFIG_BOARDCTL_RESET)
/* if the USB hardware connection went away, reboot */
if (status_flags.usb_connected && !system_power.usb_connected) {
/*
* Apparently the USB cable went away but we are still powered,
* so we bring the system back to a nominal state for flight.
* This is important to unload the USB stack of the OS which is
* a relatively complex piece of software that is non-essential
* for flight and continuing to run it would add a software risk
* without a need. The clean approach to unload it is to reboot.
*/
if (shutdown_if_allowed() && (px4_reboot_request(400_ms) == 0)) {
mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting for flight safety");
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
/* if the USB hardware connection went away, reboot */
if (_system_power_usb_connected && !system_power.usb_connected) {
/*
* Apparently the USB cable went away but we are still powered,
* so we bring the system back to a nominal state for flight.
* This is important to unload the USB stack of the OS which is
* a relatively complex piece of software that is non-essential
* for flight and continuing to run it would add a software risk
* without a need. The clean approach to unload it is to reboot.
*/
if (shutdown_if_allowed() && (px4_reboot_request(false, 400_ms) == 0)) {
mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting for flight safety");
while (1) { px4_usleep(1); }
while (1) { px4_usleep(1); }
}
}
}
#endif // CONFIG_BOARDCTL_RESET
_system_power_usb_connected = system_power.usb_connected;
}
}