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commander: pass battery status to preflight check

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A low battery check was recently added to the preflight check, therefore
we need to pass on the information about the battery.
This commit is contained in:
Julian Oes
2016-04-07 16:19:20 +02:00
parent 68a69c9d46
commit 974223bdd1
3 changed files with 25 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+14 -11
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@@ -175,12 +175,6 @@ enum MAV_MODE_FLAG {
};
enum class vehicle_battery_warning {
NONE = 0, // no battery low voltage warning active
LOW = 1, // warning of low voltage
CRITICAL = 2, // alerting of critical voltage
};
/* Mavlink log uORB handle */
static orb_advert_t mavlink_log_pub = 0;
@@ -205,6 +199,7 @@ static float eph_threshold = 5.0f;
static float epv_threshold = 10.0f;
static struct vehicle_status_s status;
static struct battery_status_s battery;
static struct actuator_armed_s armed;
static struct safety_s safety;
static struct vehicle_control_mode_s control_mode;
@@ -407,9 +402,9 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "check")) {
int checkres = 0;
checkres = preflight_check(&status, &mavlink_log_pub, false, true, &status_flags);
checkres = preflight_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery);
warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
checkres = preflight_check(&status, &mavlink_log_pub, true, true, &status_flags);
checkres = preflight_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery);
warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
return 0;
}
@@ -635,7 +630,9 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
// Transition the armed state. By passing mavlink_log_pub to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety,
arming_res = arming_state_transition(&status,
&battery,
&safety,
arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY,
&armed,
true /* fRunPreArmChecks */,
@@ -1432,7 +1429,6 @@ int commander_thread_main(int argc, char *argv[])
/* Subscribe to battery topic */
int battery_sub = orb_subscribe(ORB_ID(battery_status));
struct battery_status_s battery;
memset(&battery, 0, sizeof(battery));
/* Subscribe to subsystem info topic */
@@ -1786,6 +1782,7 @@ int commander_thread_main(int argc, char *argv[])
vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status,
&battery,
&safety,
new_arming_state,
&armed,
@@ -2044,6 +2041,7 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */
if (!status_flags.condition_calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
arming_ret = arming_state_transition(&status,
&battery,
&safety,
vehicle_status_s::ARMING_STATE_STANDBY,
&armed,
@@ -2300,7 +2298,9 @@ int commander_thread_main(int argc, char *argv[])
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status, &safety,
arming_ret = arming_state_transition(&status,
&battery,
&safety,
new_arming_state,
&armed,
true /* fRunPreArmChecks */,
@@ -2343,6 +2343,7 @@ int commander_thread_main(int argc, char *argv[])
} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
arming_ret = arming_state_transition(&status,
&battery,
&safety,
vehicle_status_s::ARMING_STATE_ARMED,
&armed,
@@ -3546,6 +3547,7 @@ void *commander_low_prio_loop(void *arg)
/* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(&status,
&battery,
&safety,
vehicle_status_s::ARMING_STATE_INIT,
&armed,
@@ -3639,6 +3641,7 @@ void *commander_low_prio_loop(void *arg)
!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !status_flags.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
arming_state_transition(&status,
&battery,
&safety,
vehicle_status_s::ARMING_STATE_STANDBY,
&armed,