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Cleaned up HIL on FMU / IO combo

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Lorenz Meier
2012-12-19 11:34:51 +01:00
parent f41e5728fc
commit bc3b66043f
5 changed files with 21 additions and 26 deletions
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apps/commander/commander.c
+14 -2
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@@ -1268,6 +1268,8 @@ int commander_thread_main(int argc, char *argv[])
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
sensors.battery_voltage_v = 0.0f;
sensors.battery_voltage_valid = false;
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1305,7 +1307,13 @@ int commander_thread_main(int argc, char *argv[])
if (new_data) {
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
}
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
orb_check(sensor_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
} else {
sensors.battery_voltage_valid = false;
}
orb_check(cmd_sub, &new_data);
if (new_data) {
@@ -1434,7 +1442,11 @@ int commander_thread_main(int argc, char *argv[])
/* Check battery voltage */
/* write to sys_status */
current_status.voltage_battery = battery_voltage;
if (battery_voltage_valid) {
current_status.voltage_battery = battery_voltage;
} else {
current_status.voltage_battery = 0.0f;
}
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS