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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/state_machine_helper.h
+19 -7
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@@ -79,10 +79,10 @@ extern const char *const arming_state_names[];
bool is_safe(const safety_s &safety, const actuator_armed_s &armed);
transition_result_t arming_state_transition(vehicle_status_s *status, const battery_status_s &battery,
const safety_s &safety, const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags,
const uint8_t arm_requirements, const hrt_abstime &time_since_boot);
transition_result_t
arming_state_transition(vehicle_status_s *status, const safety_s &safety, const arming_state_t new_arming_state,
actuator_armed_s *armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub,
vehicle_status_flags_s *status_flags, const uint8_t arm_requirements, const hrt_abstime &time_since_boot);
transition_result_t
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
@@ -106,8 +106,20 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos);
bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const battery_status_s &battery, const safety_s &safety, const uint8_t arm_requirements,
const hrt_abstime &time_since_boot);
bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags, const safety_s &safety,
const uint8_t arm_requirements);
// COM_LOW_BAT_ACT parameter values
typedef enum LOW_BAT_ACTION {
WARNING = 0, // Warning
RETURN = 1, // Return mode
LAND = 2, // Land mode
RETURN_OR_LAND = 3 // Return mode at critically low level, Land mode at current position if reaching dangerously low levels
} low_battery_action_t;
void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const uint8_t battery_warning,
const low_battery_action_t low_bat_action);
#endif /* STATE_MACHINE_HELPER_H_ */