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Only publish battery if we can measure something, initialize battery topic in commander correctly

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This commit is contained in:
Lorenz Meier 2016-04-23 14:29:25 +02:00
parent 4b0f1a6fb1
commit 19f2a7bff0
2 changed files with 11 additions and 10 deletions
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16
src/modules/commander/commander.cpp
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@ -198,15 +198,15 @@ static uint64_t _inair_last_time = 0;
static float eph_threshold = 5.0f;
static float epv_threshold = 10.0f;
static struct vehicle_status_s status;
static struct battery_status_s battery;
static struct actuator_armed_s armed;
static struct safety_s safety;
static struct vehicle_control_mode_s control_mode;
static struct offboard_control_mode_s offboard_control_mode;
static struct home_position_s _home;
static struct vehicle_status_s status = {};
static struct battery_status_s battery = {};
static struct actuator_armed_s armed = {};
static struct safety_s safety = {};
static struct vehicle_control_mode_s control_mode = {};
static struct offboard_control_mode_s offboard_control_mode = {};
static struct home_position_s _home = {};
static int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_MAX];
static struct commander_state_s internal_state;
static struct commander_state_s internal_state = {};
static unsigned _last_mission_instance = 0;
static manual_control_setpoint_s _last_sp_man = {};

5
src/modules/sensors/sensors.cpp
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@ -1657,11 +1657,12 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* Voltage in volts */
bat_voltage_v = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
updated_battery = true;
if (bat_voltage_v > 0.5f) {
updated_battery = true;
}
} else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) {
bat_current_a = (buf_adc[i].am_data * _parameters.battery_current_scaling);
updated_battery = true;
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL