mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-15 06:17:34 +08:00
commander cleanup battery failsafe handling
This commit is contained in:
Daniel Agar
@@ -152,7 +152,6 @@ static systemlib::Hysteresis auto_disarm_hysteresis(false);
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static float min_stick_change = 0.25f;
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static struct vehicle_status_s status = {};
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static struct battery_status_s battery = {};
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static struct actuator_armed_s armed = {};
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static struct safety_s safety = {};
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static struct vehicle_control_mode_s control_mode = {};
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@@ -203,8 +202,7 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[]);
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*/
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void usage(const char *reason);
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void control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed,
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battery_status_s *battery_local, const cpuload_s *cpuload_local);
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void control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed, const uint8_t battery_warning, const cpuload_s *cpuload_local);
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void get_circuit_breaker_params();
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@@ -376,7 +374,7 @@ int commander_main(int argc, char *argv[])
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bool preflight_check_res = Commander::preflight_check(true);
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PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
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bool prearm_check_res = prearm_check(&mavlink_log_pub, status_flags, battery, safety, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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bool prearm_check_res = prearm_check(&mavlink_log_pub, status_flags, safety, arm_requirements);
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PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
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return 0;
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@@ -522,7 +520,6 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
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// Transition the armed state. By passing mavlink_log_pub to arming_state_transition it will
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// output appropriate error messages if the state cannot transition.
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arming_res = arming_state_transition(&status,
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battery,
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safety,
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arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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@@ -545,6 +542,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
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Commander::Commander() :
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ModuleParams(nullptr)
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{
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_battery_sub = orb_subscribe(ORB_ID(battery_status));
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}
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bool
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@@ -1140,7 +1138,6 @@ Commander::run()
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param_t _param_min_stick_change = param_find("COM_RC_STICK_OV");
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param_t _param_geofence_action = param_find("GF_ACTION");
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param_t _param_disarm_land = param_find("COM_DISARM_LAND");
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param_t _param_low_bat_act = param_find("COM_LOW_BAT_ACT");
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param_t _param_offboard_loss_timeout = param_find("COM_OF_LOSS_T");
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param_t _param_arm_without_gps = param_find("COM_ARM_WO_GPS");
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param_t _param_arm_switch_is_button = param_find("COM_ARM_SWISBTN");
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@@ -1263,11 +1260,6 @@ Commander::run()
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int stick_off_counter = 0;
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int stick_on_counter = 0;
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bool low_battery_voltage_actions_done = false;
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bool critical_battery_voltage_actions_done = false;
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bool emergency_battery_voltage_actions_done = false;
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bool dangerous_battery_level_requests_poweroff = false;
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bool status_changed = true;
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bool param_init_forced = true;
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@@ -1302,10 +1294,6 @@ Commander::run()
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/* Subscribe to parameters changed topic */
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int param_changed_sub = orb_subscribe(ORB_ID(parameter_update));
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/* Subscribe to battery topic */
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int battery_sub = orb_subscribe(ORB_ID(battery_status));
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memset(&battery, 0, sizeof(battery));
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/* Subscribe to subsystem info topic */
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int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
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struct subsystem_info_s info;
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@@ -1326,7 +1314,7 @@ Commander::run()
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int cpuload_sub = orb_subscribe(ORB_ID(cpuload));
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memset(&cpuload, 0, sizeof(cpuload));
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control_status_leds(&status, &armed, true, &battery, &cpuload);
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control_status_leds(&status, &armed, true, _battery_warning, &cpuload);
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thread_running = true;
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@@ -1395,7 +1383,6 @@ Commander::run()
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uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
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int32_t disarm_when_landed = 0;
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int32_t low_bat_action = 0;
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/* check which state machines for changes, clear "changed" flag */
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bool main_state_changed = false;
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@@ -1504,7 +1491,6 @@ Commander::run()
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auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed * 1_s);
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}
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param_get(_param_low_bat_act, &low_bat_action);
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param_get(_param_offboard_loss_timeout, &offboard_loss_timeout);
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param_get(_param_offboard_loss_act, &offboard_loss_act);
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param_get(_param_offboard_loss_rc_act, &offboard_loss_rc_act);
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@@ -1632,7 +1618,7 @@ Commander::run()
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if (armed.armed && (status.hil_state == vehicle_status_s::HIL_STATE_OFF)
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&& safety.safety_switch_available && !safety.safety_off) {
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if (TRANSITION_CHANGED == arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY,
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if (TRANSITION_CHANGED == arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY,
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&armed, true /* fRunPreArmChecks */, &mavlink_log_pub,
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&status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))
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) {
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@@ -1771,96 +1757,7 @@ Commander::run()
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orb_copy(ORB_ID(cpuload), cpuload_sub, &cpuload);
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}
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/* update battery status */
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orb_check(battery_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(battery_status), battery_sub, &battery);
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/* only consider battery voltage if system has been running 6s (usb most likely detected) and battery voltage is valid */
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if ((hrt_elapsed_time(&commander_boot_timestamp) > 6_s)
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&& battery.voltage_filtered_v > 2.0f * FLT_EPSILON) {
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/* if battery voltage is getting lower, warn using buzzer, etc. */
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if (battery.warning == battery_status_s::BATTERY_WARNING_LOW &&
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!low_battery_voltage_actions_done) {
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low_battery_voltage_actions_done = true;
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if (armed.armed) {
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mavlink_log_critical(&mavlink_log_pub, "LOW BATTERY, RETURN TO LAND ADVISED");
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} else {
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mavlink_log_critical(&mavlink_log_pub, "LOW BATTERY, TAKEOFF DISCOURAGED");
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}
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status_changed = true;
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} else if (battery.warning == battery_status_s::BATTERY_WARNING_CRITICAL &&
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!critical_battery_voltage_actions_done) {
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critical_battery_voltage_actions_done = true;
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if (!armed.armed) {
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mavlink_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
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} else {
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if (low_bat_action == 1 || low_bat_action == 3) {
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// let us send the critical message even if already in RTL
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if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, &internal_state)) {
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warning_action_on = true;
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mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
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} else {
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mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RTL FAILED");
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}
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} else if (low_bat_action == 2) {
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if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, &internal_state)) {
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warning_action_on = true;
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mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");
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} else {
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mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING FAILED");
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}
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} else {
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mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURN TO LAUNCH ADVISED!");
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}
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}
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status_changed = true;
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} else if (battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY &&
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!emergency_battery_voltage_actions_done) {
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emergency_battery_voltage_actions_done = true;
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if (!armed.armed) {
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// Request shutdown at the end of the cycle. This allows
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// the vehicle state to be published after emergency landing
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dangerous_battery_level_requests_poweroff = true;
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} else {
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if (low_bat_action == 2 || low_bat_action == 3) {
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if (TRANSITION_CHANGED == main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, &internal_state)) {
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warning_action_on = true;
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mavlink_log_emergency(&mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING IMMEDIATELY");
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} else {
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mavlink_log_emergency(&mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING FAILED");
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}
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} else {
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mavlink_log_emergency(&mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING ADVISED!");
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}
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}
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status_changed = true;
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}
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/* End battery voltage check */
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}
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}
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battery_status_check();
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/* update subsystem info which arrives from outside of commander*/
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do {
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@@ -1875,7 +1772,7 @@ Commander::run()
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/* If in INIT state, try to proceed to STANDBY state */
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if (!status_flags.condition_calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
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arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
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arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
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true /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags,
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arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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@@ -2000,7 +1897,7 @@ Commander::run()
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// revert geofence failsafe transition if sticks are moved and we were previously in a manual mode
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// but only if not in a low battery handling action
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if (rc_override != 0 && !critical_battery_voltage_actions_done && (warning_action_on &&
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if (rc_override != 0 && (_battery_warning < battery_status_s::BATTERY_WARNING_CRITICAL) && (warning_action_on &&
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(main_state_before_rtl == commander_state_s::MAIN_STATE_MANUAL ||
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main_state_before_rtl == commander_state_s::MAIN_STATE_ALTCTL ||
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main_state_before_rtl == commander_state_s::MAIN_STATE_POSCTL ||
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@@ -2023,7 +1920,7 @@ Commander::run()
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// abort landing or auto or loiter if sticks are moved significantly
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// but only if not in a low battery handling action
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if (rc_override != 0 && !critical_battery_voltage_actions_done &&
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if (rc_override != 0 && (_battery_warning < battery_status_s::BATTERY_WARNING_CRITICAL) &&
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(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
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internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
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internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER)) {
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@@ -2109,7 +2006,7 @@ Commander::run()
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print_reject_arm("NOT DISARMING: Not in manual mode or landed yet.");
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} else if ((stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) || arm_switch_to_disarm_transition) {
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arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
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arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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}
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@@ -2159,7 +2056,7 @@ Commander::run()
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print_reject_arm("NOT ARMING: Geofence RTL requires valid home");
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} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
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arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_ARMED, &armed,
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arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_ARMED, &armed,
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!in_arming_grace_period /* fRunPreArmChecks */,
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&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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@@ -2253,7 +2150,7 @@ Commander::run()
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orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
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const float throttle = actuator_controls.control[actuator_controls_s::INDEX_THROTTLE];
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const float current2throttle = battery.current_a / throttle;
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const float current2throttle = _battery_current / throttle;
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if (((throttle > ef_throttle_thres) && (current2throttle < ef_current2throttle_thres))
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|| status.engine_failure) {
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@@ -2536,12 +2433,12 @@ Commander::run()
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} else if (!status_flags.usb_connected &&
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(status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
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(battery.warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
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(_battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
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/* play tune on battery critical */
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set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
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} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
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(battery.warning == battery_status_s::BATTERY_WARNING_LOW)) {
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(_battery_warning == battery_status_s::BATTERY_WARNING_LOW)) {
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/* play tune on battery warning */
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set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
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@@ -2568,6 +2465,7 @@ Commander::run()
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if (!sensor_fail_tune_played && (!status_flags.condition_system_sensors_initialized
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&& status_flags.condition_system_hotplug_timeout)) {
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set_tune_override(TONE_GPS_WARNING_TUNE);
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sensor_fail_tune_played = true;
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status_changed = true;
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@@ -2581,12 +2479,12 @@ Commander::run()
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/* blinking LED message, don't touch LEDs */
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if (blink_state == 2) {
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/* blinking LED message completed, restore normal state */
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control_status_leds(&status, &armed, true, &battery, &cpuload);
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control_status_leds(&status, &armed, true, _battery_warning, &cpuload);
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}
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} else {
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/* normal state */
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control_status_leds(&status, &armed, status_changed, &battery, &cpuload);
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control_status_leds(&status, &armed, status_changed, _battery_warning, &cpuload);
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}
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status_changed = false;
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@@ -2598,21 +2496,6 @@ Commander::run()
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arm_auth_update(now, params_updated || param_init_forced);
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// Handle shutdown request from emergency battery action
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if(!armed.armed && dangerous_battery_level_requests_poweroff){
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mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
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usleep(200000);
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int ret_val = px4_shutdown_request(false, false);
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if (ret_val) {
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mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
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dangerous_battery_level_requests_poweroff = false;
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} else {
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while (1) { usleep(1); }
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}
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}
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usleep(COMMANDER_MONITORING_INTERVAL);
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}
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@@ -2636,7 +2519,6 @@ Commander::run()
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px4_close(cmd_sub);
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px4_close(subsys_sub);
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px4_close(param_changed_sub);
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px4_close(battery_sub);
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px4_close(land_detector_sub);
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thread_running = false;
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@@ -2668,7 +2550,7 @@ Commander::check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout,
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void
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control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed,
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bool changed, battery_status_s *battery_local, const cpuload_s *cpuload_local)
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bool changed, const uint8_t battery_warning, const cpuload_s *cpuload_local)
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{
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static hrt_abstime overload_start = 0;
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@@ -2724,10 +2606,10 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
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if (status.failsafe) {
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led_color = led_control_s::COLOR_PURPLE;
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} else if (battery_local->warning == battery_status_s::BATTERY_WARNING_LOW) {
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} else if (battery_warning == battery_status_s::BATTERY_WARNING_LOW) {
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led_color = led_control_s::COLOR_AMBER;
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} else if (battery_local->warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
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} else if (battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
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led_color = led_control_s::COLOR_RED;
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} else {
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@@ -3640,7 +3522,7 @@ void *commander_low_prio_loop(void *arg)
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int calib_ret = PX4_ERROR;
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/* try to go to INIT/PREFLIGHT arming state */
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if (TRANSITION_DENIED == arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
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if (TRANSITION_DENIED == arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
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false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags,
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arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))) {
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@@ -3728,7 +3610,7 @@ void *commander_low_prio_loop(void *arg)
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Commander::preflight_check(false);
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arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
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arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
|
||||
false /* fRunPreArmChecks */,
|
||||
&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
|
||||
|
||||
@@ -4113,6 +3995,60 @@ void Commander::data_link_checks(int32_t highlatencydatalink_loss_timeout, int32
|
||||
}
|
||||
}
|
||||
|
||||
void Commander::battery_status_check()
|
||||
{
|
||||
bool updated = false;
|
||||
|
||||
/* update battery status */
|
||||
orb_check(_battery_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
|
||||
battery_status_s battery = {};
|
||||
if (orb_copy(ORB_ID(battery_status), _battery_sub, &battery) == PX4_OK) {
|
||||
|
||||
if ((hrt_elapsed_time(&battery.timestamp) < 5_s)
|
||||
&& battery.connected
|
||||
&& (_battery_warning == battery_status_s::BATTERY_WARNING_NONE)) {
|
||||
|
||||
status_flags.condition_battery_healthy = true;
|
||||
|
||||
} else {
|
||||
status_flags.condition_battery_healthy = false;
|
||||
}
|
||||
|
||||
// execute battery failsafe if the state has gotten worse
|
||||
if (armed.armed) {
|
||||
if (battery.warning > _battery_warning) {
|
||||
battery_failsafe(&mavlink_log_pub, status, status_flags, &internal_state, battery.warning, (low_battery_action_t)_low_bat_action.get());
|
||||
}
|
||||
}
|
||||
|
||||
// Handle shutdown request from emergency battery action
|
||||
if (!armed.armed && (battery.warning != _battery_warning)) {
|
||||
|
||||
if (battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
|
||||
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
|
||||
usleep(200000);
|
||||
|
||||
int ret_val = px4_shutdown_request(false, false);
|
||||
|
||||
if (ret_val) {
|
||||
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
|
||||
|
||||
} else {
|
||||
while (1) { usleep(1); }
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// save last value
|
||||
_battery_warning = battery.warning;
|
||||
_battery_current = battery.current_filtered_a;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Commander::estimator_check(bool *status_changed)
|
||||
{
|
||||
// Check if quality checking of position accuracy and consistency is to be performed
|
||||
|
||||
Reference in New Issue
Block a user