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commander cleanup battery failsafe handling

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This commit is contained in:
Daniel Agar
2018-08-03 16:21:31 -04:00
parent 7f41ead238
commit 6396e486bd
8 changed files with 201 additions and 162 deletions
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src/modules/commander/Commander.hpp
+10 -1
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@@ -104,7 +104,10 @@ private:
(ParamInt<px4::params::COM_POS_FS_DELAY>) _failsafe_pos_delay,
(ParamInt<px4::params::COM_POS_FS_PROB>) _failsafe_pos_probation,
(ParamInt<px4::params::COM_POS_FS_GAIN>) _failsafe_pos_gain
(ParamInt<px4::params::COM_POS_FS_GAIN>) _failsafe_pos_gain,
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
@@ -173,6 +176,12 @@ private:
void estimator_check(bool *status_changed);
int _battery_sub{-1};
uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
float _battery_current{0.0f};
void battery_status_check();
// Subscriptions
Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
Subscription<iridiumsbd_status_s> _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};