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Introduced battery_status uORB topic, changed sensors app to publish to it, extended px4io driver to publish to it. Both do only so if the battery voltage is reasonably high, at 3.3V

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This commit is contained in:
Lorenz Meier
2013-01-01 13:30:24 +01:00
parent d93fda20fd
commit 4eb7df6ff5
7 changed files with 140 additions and 21 deletions
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apps/commander/commander.c
+18 -8
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@@ -70,6 +70,7 @@
#include <poll.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_gps_position.h>
@@ -1262,6 +1263,11 @@ int commander_thread_main(int argc, char *argv[])
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
/* subscribe to battery topic */
int battery_sub = orb_subscribe(ORB_ID(battery_status));
struct battery_status_s battery;
memset(&battery, 0, sizeof(battery));
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@@ -1300,15 +1306,19 @@ int commander_thread_main(int argc, char *argv[])
handle_command(stat_pub, &current_status, &cmd);
}
battery_voltage = sensors.battery_voltage_v;
battery_voltage_valid = sensors.battery_voltage_valid;
orb_check(battery_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
battery_voltage = battery.voltage_v;
battery_voltage_valid = true;
/*
* Only update battery voltage estimate if voltage is
* valid and system has been running for two and a half seconds
*/
if (battery_voltage_valid && (hrt_absolute_time() - start_time > 2500000)) {
bat_remain = battery_remaining_estimate_voltage(battery_voltage);
/*
* Only update battery voltage estimate if system has
* been running for two and a half seconds.
*/
if (hrt_absolute_time() - start_time > 2500000) {
bat_remain = battery_remaining_estimate_voltage(battery_voltage);
}
}
/* Slow but important 8 Hz checks */