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Merge pull request #139 from NosDE/master

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Added Battery Alarm Status to Struct Vehicle_Status
This commit is contained in:
Lorenz Meier
2013-01-08 12:04:17 -08:00
parent 01ea8eb54f 1998ce1205
commit 9a7befef18
2 changed files with 11 additions and 0 deletions
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apps/commander/commander.c
+3
View File
@@ -1200,6 +1200,7 @@ int commander_thread_main(int argc, char *argv[])
/* mark all signals lost as long as they haven't been found */
current_status.rc_signal_lost = true;
current_status.offboard_control_signal_lost = true;
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@@ -1393,6 +1394,7 @@ int commander_thread_main(int argc, char *argv[])
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
low_battery_voltage_actions_done = true;
current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING;
mavlink_log_critical(mavlink_fd, "[commander] WARNING! LOW BATTERY!");
}
@@ -1403,6 +1405,7 @@ int commander_thread_main(int argc, char *argv[])
else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
critical_battery_voltage_actions_done = true;
current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CRITICAL BATTERY!");
state_machine_emergency(stat_pub, &current_status, mavlink_fd);
}
apps/uORB/topics/vehicle_status.h
+8
View File
@@ -99,6 +99,13 @@ enum VEHICLE_ATTITUDE_MODE {
VEHICLE_ATTITUDE_MODE_ATTITUDE /**< tait-bryan attitude control mode */
};
enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */
VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */
VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */
};
/**
* state machine / state of vehicle.
*
@@ -157,6 +164,7 @@ struct vehicle_status_s
float voltage_battery;
float current_battery;
float battery_remaining;
enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
uint16_t drop_rate_comm;
uint16_t errors_comm;
uint16_t errors_count1;