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fix commander: need to copy all battery states in a cycle

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Previously if in a cycle only a disconnected battery status updated, the
battery health state would switch to unhealthy during that time.

Fixes intermittent 'Arming denied! Check battery' preflight failures on
v5x with 1 power module connected.
This commit is contained in:
Beat Küng
2020-04-01 16:05:46 +02:00
parent 70c28c7274
commit 1f60a86d32
1 changed files with 4 additions and 5 deletions
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src/modules/commander/Commander.cpp
+4 -5
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@@ -3796,13 +3796,12 @@ void Commander::battery_status_check()
battery_status_s batteries[ORB_MULTI_MAX_INSTANCES];
size_t num_connected_batteries = 0;
for (size_t i = 0; i < sizeof(_battery_subs) / sizeof(_battery_subs[0]); i++) {
if (_battery_subs[i].updated() && _battery_subs[i].copy(&batteries[num_connected_batteries])) {
// We need to update the status flag if ANY battery is updated, because the system source might have
// changed, or might be nothing (if there is no battery connected)
battery_sub_updated = true;
// We need to update the status flag if ANY battery is updated, because the system source might have
// changed, or might be nothing (if there is no battery connected)
battery_sub_updated |= _battery_subs[i].updated();
if (_battery_subs[i].copy(&batteries[num_connected_batteries])) {
if (batteries[num_connected_batteries].connected) {
num_connected_batteries++;
}