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Battery-Warn-State added to struct Vehicle_Status

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unknown
2013-01-08 20:37:47 +01:00
parent 01ea8eb54f
commit 1998ce1205
2 changed files with 11 additions and 0 deletions
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apps/commander/commander.c
+3
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@@ -1200,6 +1200,7 @@ int commander_thread_main(int argc, char *argv[])
/* mark all signals lost as long as they haven't been found */
current_status.rc_signal_lost = true;
current_status.offboard_control_signal_lost = true;
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@@ -1393,6 +1394,7 @@ int commander_thread_main(int argc, char *argv[])
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
low_battery_voltage_actions_done = true;
current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING;
mavlink_log_critical(mavlink_fd, "[commander] WARNING! LOW BATTERY!");
}
@@ -1403,6 +1405,7 @@ int commander_thread_main(int argc, char *argv[])
else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
critical_battery_voltage_actions_done = true;
current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CRITICAL BATTERY!");
state_machine_emergency(stat_pub, &current_status, mavlink_fd);
}