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commander: add hysteresis for avionics power low/high check

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We had a setup where the voltage was right at the threshold and the check
toggled continuously.

It still triggers immediately, and then keeps for 15 seconds
This commit is contained in:
Beat Küng 2025-02-27 10:05:48 +01:00 committed by Daniel Agar
parent 5fb810a5ea
commit 93b8bc1515
2 changed files with 18 additions and 3 deletions
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16
src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
View File

@ -36,6 +36,14 @@
using namespace time_literals;
PowerChecks::PowerChecks()
{
_voltage_low_hysteresis.set_hysteresis_time_from(false, 0_s);
_voltage_low_hysteresis.set_hysteresis_time_from(true, 15_s);
_voltage_high_hysteresis.set_hysteresis_time_from(false, 0_s);
_voltage_high_hysteresis.set_hysteresis_time_from(true, 15_s);
}
void PowerChecks::checkAndReport(const Context &context, Report &reporter)
{
if (circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY)) {
@ -77,7 +85,11 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
const float low_error_threshold = 4.7f;
const float high_error_threshold = 5.4f;
if (avionics_power_rail_voltage < low_error_threshold) {
const auto now = hrt_absolute_time();
_voltage_low_hysteresis.set_state_and_update(avionics_power_rail_voltage < low_error_threshold, now);
_voltage_high_hysteresis.set_state_and_update(avionics_power_rail_voltage > high_error_threshold, now);
if (_voltage_low_hysteresis.get_state()) {
/* EVENT
* @description
@ -96,7 +108,7 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
(double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage > high_error_threshold) {
} else if (_voltage_high_hysteresis.get_state()) {
/* EVENT
* @description
* Check the voltage supply to the FMU, it must be below {2:.2} Volt.

5
src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp
View File

@ -35,13 +35,14 @@
#include "../Common.hpp"
#include <lib/hysteresis/hysteresis.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/system_power.h>
class PowerChecks : public HealthAndArmingCheckBase
{
public:
PowerChecks() = default;
PowerChecks();
~PowerChecks() = default;
void checkAndReport(const Context &context, Report &reporter) override;
@ -49,6 +50,8 @@ public:
private:
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
bool _overcurrent_warning_sent{false};
systemlib::Hysteresis _voltage_low_hysteresis{false};
systemlib::Hysteresis _voltage_high_hysteresis{false};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,