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add low battery warning and comment out the "resolved" messages

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Mark Whitehorn 2016-04-01 15:20:45 -06:00 committed by Lorenz Meier
parent b4520f538e
commit 817c0eafbc
1 changed files with 8 additions and 3 deletions
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11
src/modules/commander/state_machine_helper.cpp
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@ -95,7 +95,7 @@ static const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI
};
// You can index into the array with an arming_state_t in order to get it's textual representation
// You can index into the array with an arming_state_t in order to get its textual representation
static const char * const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"ARMING_STATE_INIT",
"ARMING_STATE_STANDBY",
@ -254,7 +254,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
// mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
} else {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check failed, refusing to arm");
}
@ -262,7 +262,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
// mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
feedback_provided = true;
} else {
// Silent ignore
@ -885,6 +885,11 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
}
}
if (status->battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
preflight_ok = false;
mavlink_and_console_log_critical(mavlink_log_pub, "LOW BATTERY, ARMING LOCKED DOWN");
}
/* report once, then set the flag */
if (reportFailures && !preflight_ok) {
status->condition_system_prearm_error_reported = true;