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esc_calibration: use batter status connected flag instead of checking voltage

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-23 16:42:58 +02:00
committed by Lorenz Meier
parent beb8c3e152
commit 73577df994
1 changed files with 3 additions and 3 deletions
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src/modules/commander/esc_calibration.cpp
+3 -3
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@@ -114,8 +114,8 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
// Make sure battery is disconnected
if (orb_copy(ORB_ID(battery_status), batt_sub, &battery) == PX4_OK) {
// battery is not connected if voltage is lower than 3V and we have a recent battery measurement
if (battery.voltage_filtered_v < 3.0f && (hrt_absolute_time() - battery.timestamp < 500*1000)) {
// battery is not connected if the connected flag is not set and we have a recent battery measurement
if (!battery.connected && (hrt_absolute_time() - battery.timestamp < 500_ms)) {
batt_connected = false;
}
}
@@ -175,7 +175,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
orb_check(batt_sub, &batt_updated);
if (batt_updated) {
orb_copy(ORB_ID(battery_status), batt_sub, &battery);
if (battery.voltage_filtered_v > 3.0f) {
if (battery.connected) {
// Battery is connected, signal to user and start waiting again
batt_connected = true;
timeout_start = hrt_absolute_time();