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esc_calibration: increase safety and initialise all data

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- do not do calibration if not very sure that battery is not connected
- initialise all structs and variables

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-07-03 07:05:38 +00:00
committed by Lorenz Meier
parent e1117d175b
commit 8b629454de
2 changed files with 16 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/esc_calibration.cpp
+16 -22
View File
@@ -61,25 +61,12 @@
#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub) {
struct battery_status_s battery;
memset(&battery,0,sizeof(battery));
int batt_sub = orb_subscribe(ORB_ID(battery_status));
orb_copy(ORB_ID(battery_status), batt_sub, &battery);
if (battery.voltage_filtered_v > 3.0f && !(hrt_absolute_time() - battery.timestamp > 500000)) {
mavlink_log_info(mavlink_log_pub, "Please disconnect battery and try again!");
return PX4_ERROR;
}
return PX4_OK;
}
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed)
{
int return_code = PX4_OK;
#if defined(__PX4_POSIX_OCPOC)
hrt_abstime timeout_start;
hrt_abstime timeout_start = 0;
hrt_abstime timeout_wait = 60*1000*1000;
armed->in_esc_calibration_mode = true;
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "begin esc");
@@ -105,14 +92,14 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
#else
int fd = -1;
struct battery_status_s battery;
struct battery_status_s battery = {};
int batt_sub = -1;
bool batt_updated = false;
bool batt_connected = false;
bool batt_connected = true; // for safety resons assume battery is connected, will be cleared below if not the case
hrt_abstime battery_connect_wait_timeout = 30000000;
hrt_abstime pwm_high_timeout = 3000000;
hrt_abstime timeout_start;
hrt_abstime battery_connect_wait_timeout = 30*1000*1000;
hrt_abstime pwm_high_timeout = 3*1000*1000;
hrt_abstime timeout_start = 0;
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc");
@@ -123,8 +110,15 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
}
// Make sure battery is disconnected
orb_copy(ORB_ID(battery_status), batt_sub, &battery);
if (battery.voltage_filtered_v > 3.0f) {
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)) {
batt_connected = false;
}
}
if (batt_connected) {
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
goto Error;
}
@@ -187,7 +181,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
}
}
}
usleep(50000);
usleep(50*1000);
}
Out:
src/modules/commander/esc_calibration.h
-1
View File
@@ -44,7 +44,6 @@
#include <uORB/topics/actuator_armed.h>
int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub);
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed);
#endif