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commander powerCheck: simplify logic

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refactoring only
This commit is contained in:
Beat Küng
2020-01-24 15:49:07 +01:00
committed by Lorenz Meier
parent 9e7dcd4b06
commit 2a67d22ac7
1 changed files with 22 additions and 23 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp
+22 -23
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@@ -48,36 +48,35 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
if (!prearm) {
// Ignore power check after arming.
return true;
}
} else {
uORB::SubscriptionData<system_power_s> system_power_sub{ORB_ID(system_power)};
system_power_sub.update();
const system_power_s &system_power = system_power_sub.get();
uORB::SubscriptionData<system_power_s> system_power_sub{ORB_ID(system_power)};
system_power_sub.update();
const system_power_s &system_power = system_power_sub.get();
if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) {
if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) {
/* copy avionics voltage */
float avionics_power_rail_voltage = system_power.voltage5v_v;
/* copy avionics voltage */
float avionics_power_rail_voltage = system_power.voltage5v_v;
// avionics rail
// Check avionics rail voltages
if (avionics_power_rail_voltage < 4.5f) {
success = false;
// avionics rail
// Check avionics rail voltages
if (avionics_power_rail_voltage < 4.5f) {
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
}
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage < 4.9f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage < 4.9f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage > 5.4f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage > 5.4f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage);
}
}
}