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Various minor fixes and improvements across system

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This commit is contained in:
Lorenz Meier
2012-09-05 18:05:11 +02:00
parent 84e11a0cac
commit db6ec2d7d2
7 changed files with 89 additions and 56 deletions
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apps/commander/commander.c
+43 -33
View File
@@ -973,7 +973,7 @@ int commander_thread_main(int argc, char *argv[])
uint8_t flight_env;
/* Initialize to 3.0V to make sure the low-pass loads below valid threshold */
float battery_voltage = VOLTAGE_BATTERY_HIGH_VOLTS;
float battery_voltage = 12.0f;
bool battery_voltage_valid = true;
bool low_battery_voltage_actions_done = false;
bool critical_battery_voltage_actions_done = false;
@@ -1010,6 +1010,8 @@ int commander_thread_main(int argc, char *argv[])
/* now initialized */
commander_initialized = true;
uint64_t start_time = hrt_absolute_time();
while (!thread_should_exit) {
/* Get current values */
@@ -1019,7 +1021,14 @@ int commander_thread_main(int argc, char *argv[])
battery_voltage = sensors.battery_voltage_v;
battery_voltage_valid = sensors.battery_voltage_valid;
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
/*
* Only update battery voltage estimate if voltage is
* valid and system has been running for half a second
*/
if (battery_voltage_valid && (hrt_absolute_time() - start_time > 500000)) {
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
}
/* Slow but important 8 Hz checks */
if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
@@ -1084,6 +1093,38 @@ int commander_thread_main(int argc, char *argv[])
ioctl(buzzer, TONE_SET_ALARM, 0);
}
/* Check battery voltage */
/* write to sys_status */
current_status.voltage_battery = battery_voltage;
/* 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
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[commander] WARNING! LOW BATTERY!");
}
low_voltage_counter++;
}
/* Critical, this is rather an emergency, kill signal to sdlog and change state machine */
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;
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CIRITICAL BATTERY!");
state_machine_emergency(stat_pub, &current_status, mavlink_fd);
}
critical_voltage_counter++;
} else {
low_voltage_counter = 0;
critical_voltage_counter = 0;
}
/* End battery voltage check */
/* Check if last transition deserved an audio event */
#warning This code depends on state that is no longer? maintained
#if 0
@@ -1142,37 +1183,6 @@ int commander_thread_main(int argc, char *argv[])
//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
/* end: check gps */
/* Check battery voltage */
/* write to sys_status */
current_status.voltage_battery = battery_voltage;
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (battery_voltage_valid && (battery_voltage < VOLTAGE_BATTERY_LOW_VOLTS && false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[commander] WARNING! LOW BATTERY!");
}
low_voltage_counter++;
}
/* Critical, this is rather an emergency, kill signal to sdlog and change state machine */
else if (battery_voltage_valid && (battery_voltage < VOLTAGE_BATTERY_CRITICAL_VOLTS && 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;
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CIRITICAL BATTERY!");
state_machine_emergency(stat_pub, &current_status, mavlink_fd);
}
critical_voltage_counter++;
} else {
low_voltage_counter = 0;
critical_voltage_counter = 0;
}
/* End battery voltage check */
/* Start RC state check */
bool prev_lost = current_status.rc_signal_lost;
apps/commander/commander.h
-2
View File
@@ -39,8 +39,6 @@
#ifndef COMMANDER_H_
#define COMMANDER_H_
#define VOLTAGE_BATTERY_HIGH_VOLTS 12.0f
#define VOLTAGE_BATTERY_LOW_VOLTS 10.5f
#define VOLTAGE_BATTERY_CRITICAL_VOLTS 10.0f
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f