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Commander: add delay before executing low battery failsafe action

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This commit is contained in:
Matthias Grob
2022-01-31 20:27:06 -05:00
committed by Daniel Agar
parent 3af315f2c3
commit d10f9030ad
3 changed files with 30 additions and 1 deletions
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src/modules/commander/Commander.cpp
+12 -1
View File
@@ -3876,7 +3876,6 @@ void Commander::battery_status_check()
_battery_warning = worst_warning;
}
_status_flags.condition_battery_healthy =
// All connected batteries are regularly being published
(hrt_elapsed_time(&oldest_update) < 5_s)
@@ -3890,6 +3889,18 @@ void Commander::battery_status_check()
// execute battery failsafe if the state has gotten worse while we are armed
if (battery_warning_level_increased_while_armed) {
warn_user_about_battery(&_mavlink_log_pub, _battery_warning);
_battery_failsafe_timestamp = hrt_absolute_time();
if (get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get()) != commander_state_s::MAIN_STATE_MAX) {
main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state);
}
}
if (_battery_failsafe_timestamp != 0
&& hrt_elapsed_time(&_battery_failsafe_timestamp) > _param_com_bat_act_t.get() * 1_s
&& _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER) {
_battery_failsafe_timestamp = 0;
uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get());
src/modules/commander/Commander.hpp
+2
View File
@@ -211,6 +211,7 @@ private:
(ParamInt<px4::params::COM_POS_FS_GAIN>) _param_com_pos_fs_gain,
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
(ParamFloat<px4::params::COM_BAT_ACT_T>) _param_com_bat_act_t,
(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
@@ -343,6 +344,7 @@ private:
hrt_abstime _last_esc_status_updated{0};
uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
hrt_abstime _battery_failsafe_timestamp{0};
float _battery_current{0.0f};
uint8_t _last_connected_batteries{0};
uint32_t _last_battery_custom_fault[battery_status_s::MAX_INSTANCES] {};
src/modules/commander/commander_params.c
+16
View File
@@ -352,6 +352,22 @@ PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);
*/
PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
/**
* Delay between battery state change and failsafe reaction
*
* Battery state requires action -> wait COM_BAT_ACT_T seconds for the user to realize and take custom action
* React with failsafe action COM_LOW_BAT_ACT
*
* A zero value disables the delay.
*
* @group Commander
* @unit s
* @min 0.0
* @max 25.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(COM_BAT_ACT_T, 10.0f);
/**
* Imbalanced propeller failsafe mode
*