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commander: Minor checks / improvements to power enforce patch

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Lorenz Meier
2014-06-30 14:33:56 +02:00
parent a5e7f5ca30
commit 799f568ab4
2 changed files with 8 additions and 12 deletions
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src/modules/commander/commander.cpp
+3 -1
View File
@@ -974,8 +974,10 @@ int commander_thread_main(int argc, char *argv[])
status.condition_power_input_valid = false;
} else {
status.condition_power_input_valid = true;
status.avionics_power_rail_voltage = system_power.voltage5V_v;
}
/* copy avionics voltage */
status.avionics_power_rail_voltage = system_power.voltage5V_v;
}
}
src/modules/commander/state_machine_helper.cpp
+5 -11
View File
@@ -141,22 +141,16 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Fail transition if power is not good
if (!status->condition_power_input_valid) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
}
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
valid_transition = false;
}
// Fail transition if power levels on the avionics rail
// are insufficient
if ((status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.5f)) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage);
}
// are measured but are insufficient
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.9f)) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage);
valid_transition = false;
}
}