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batteryCheck: explicitly report missing battery with ID

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This commit is contained in:
Matthias Grob 2024-07-17 15:46:53 +02:00 committed by Silvan Fuhrer
parent 7d79bdfa05
commit 0d00543292
1 changed files with 18 additions and 7 deletions
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25
src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
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@ -94,7 +94,6 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
return;
}
int battery_required_count = 0;
bool battery_has_fault = false;
// There are possibly multiple batteries, and we can't know which ones serve which purpose. So the safest
// option is to check if ANY of them have a warning, and specifically find which one has the most
@ -106,6 +105,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
hrt_abstime oldest_update = hrt_absolute_time();
float worst_battery_time_s{NAN};
int num_connected_batteries{0};
bool is_required_battery_missing{false};
for (auto &battery_sub : _battery_status_subs) {
int index = battery_sub.get_instance();
@ -115,8 +115,18 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
continue;
}
if (battery.is_required) {
battery_required_count++;
if (battery.is_required && !battery.connected) {
is_required_battery_missing = true;
/* EVENT
* @description
* Make sure all required batteries are connected.
*/
reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::battery, events::ID("check_battery_missing"),
events::Log::Error, "Battery {1} missing", index + 1);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i missing\t", index + 1);
}
}
if (!_last_armed && context.isArmed()) {
@ -259,16 +269,17 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
reporter.failsafeFlags().battery_unhealthy =
// All connected batteries are regularly being published
hrt_elapsed_time(&oldest_update) > 5_s
// There is at least one connected battery (in any slot)
|| num_connected_batteries < battery_required_count
// There is a required battery that's missing
|| is_required_battery_missing
// No currently-connected batteries have any fault
|| battery_has_fault
|| reporter.failsafeFlags().battery_warning == battery_status_s::BATTERY_WARNING_FAILED;
if (reporter.failsafeFlags().battery_unhealthy && !battery_has_fault) { // faults are reported above already
if (reporter.failsafeFlags().battery_unhealthy
&& !is_required_battery_missing && !battery_has_fault) { // missing batteries and faults are reported above already
/* EVENT
* @description
* Make sure all batteries are connected and operational.
* Make sure all batteries are operational.
*/
reporter.healthFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_unhealthy"),
events::Log::Error, "Battery unhealthy");