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batteryCheck: allow COM_ARM_BAT_MIN to be set lower than BAT_CRIT_THR

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Which still allows to arm the vehicle even if it already has a critical battery level.
This commit is contained in:
Matthias Grob
2024-10-08 18:49:23 +02:00
parent a5b17f14b0
commit 7941310afd
2 changed files with 16 additions and 29 deletions
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src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
+12 -24
View File
@@ -191,17 +191,23 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
reporter.failsafeFlags().battery_warning = worst_warning;
}
if (reporter.failsafeFlags().battery_warning > battery_status_s::BATTERY_WARNING_NONE
&& reporter.failsafeFlags().battery_warning < battery_status_s::BATTERY_WARNING_FAILED) {
const bool battery_warning = reporter.failsafeFlags().battery_warning > battery_status_s::BATTERY_WARNING_NONE
&& reporter.failsafeFlags().battery_warning < battery_status_s::BATTERY_WARNING_FAILED;
const bool configured_arm_threshold_in_use = !context.isArmed() && (_param_com_arm_bat_min.get() >= -FLT_EPSILON);
const bool below_configured_arm_threshold = (worst_battery_remaining < _param_com_arm_bat_min.get());
if (battery_warning || (configured_arm_threshold_in_use && below_configured_arm_threshold)) {
const bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL;
NavModes affected_modes = critical_or_higher ? NavModes::All : NavModes::None;
events::LogLevel log_level = critical_or_higher ? events::Log::Critical : events::Log::Warning;
NavModes affected_modes = (!configured_arm_threshold_in_use && critical_or_higher)
|| (configured_arm_threshold_in_use && below_configured_arm_threshold) ? NavModes::All : NavModes::None;
events::LogLevel log_level = critical_or_higher || below_configured_arm_threshold
? events::Log::Critical : events::Log::Warning;
/* EVENT
* @description
* The battery state of charge of the worst battery is below the warning threshold.
* The battery state of charge of the worst battery is below the threshold.
*
* <profile name="dev">
* This check can be configured via <param>BAT_LOW_THR</param>, <param>BAT_CRIT_THR</param> and <param>BAT_EMERGEN_THR</param> parameters.
* This check can be configured via <param>BAT_LOW_THR</param>, <param>BAT_CRIT_THR</param>, <param>BAT_EMERGEN_THR</param> and <param>COM_ARM_BAT_MIN</param> parameters.
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"), log_level,
@@ -211,24 +217,6 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery level\t");
}
} else if (!context.isArmed() && _param_com_arm_bat_min.get() > FLT_EPSILON
&& worst_battery_remaining < _param_com_arm_bat_min.get()) {
// if not armed, additionally check if the battery is below the separately configurable preflight threshold
/* EVENT
* @description
* The battery state of charge of the worst battery is below the preflight threshold.
*
* <profile name="dev">
* This check can be configured via <param>COM_ARM_BAT_MIN</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_preflight_low"),
events::Log::Critical,
"Low battery");
if (reporter.mavlink_log_pub()) {
mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery level\t");
}
}
rtlEstimateCheck(context, reporter, worst_battery_time_s);
src/modules/commander/commander_params.c
+4 -5
View File
@@ -960,19 +960,18 @@ PARAM_DEFINE_INT32(COM_ARMABLE, 1);
/**
* Minimum battery level for arming
*
* Additional battery level check that only allows arming if the state of charge of the emptiest
* connected battery is above this value.
* Threshold for battery percentage below arming is prohibited.
*
* A value of 0 disables the check.
* A negative value means BAT_CRIT_THR is the threshold.
*
* @unit norm
* @min 0
* @min -1
* @max 0.9
* @decimal 2
* @increment 0.01
* @group Commander
*/
PARAM_DEFINE_FLOAT(COM_ARM_BAT_MIN, 0.f);
PARAM_DEFINE_FLOAT(COM_ARM_BAT_MIN, -1.f);
/**
* Enable throw-start