fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

health: Fix displayed value in power check (#25751)

Browse Source 
* Changed the healthFailure call in the PowerChecks to ensure that no value above the low_error_threshold or below the high_error_threshold is reported in AMC

* fix format

* made _latest_low_failure and _latest_low_failure member variables. Only update them when hystersis state changes from false to true.
This commit is contained in:
Phil-Engljaehringer 2025-10-17 14:54:16 +02:00 committed by GitHub
parent f03131cfd3
commit dc0af1ab9d
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
2 changed files with 19 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
View File

@ -86,9 +86,21 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
const float high_error_threshold = 5.4f;
const auto now = hrt_absolute_time();
bool old_state_low = _voltage_low_hysteresis.get_state();
bool old_state_high = _voltage_high_hysteresis.get_state();
_voltage_low_hysteresis.set_state_and_update(avionics_power_rail_voltage < low_error_threshold, now);
_voltage_high_hysteresis.set_state_and_update(avionics_power_rail_voltage > high_error_threshold, now);
if (_voltage_low_hysteresis.get_state() && !old_state_low) {
_latest_low_failure_val = avionics_power_rail_voltage;
}
if (_voltage_high_hysteresis.get_state() && !old_state_high) {
_latest_high_failure_val = avionics_power_rail_voltage;
}
if (_voltage_low_hysteresis.get_state()) {
/* EVENT
@ -101,11 +113,11 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
*/
reporter.healthFailure<float, float>(NavModes::All, health_component_t::system,
events::ID("check_avionics_power_low"),
events::Log::Error, "Avionics Power low: {1:.2} Volt", avionics_power_rail_voltage, low_error_threshold);
events::Log::Error, "Avionics Power low: {1:.2} Volt", _latest_low_failure_val, low_error_threshold);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avionics Power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
(double)_latest_low_failure_val);
}
} else if (_voltage_high_hysteresis.get_state()) {
@ -119,11 +131,11 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
*/
reporter.healthFailure<float, float>(NavModes::All, health_component_t::system,
events::ID("check_avionics_power_high"),
events::Log::Error, "Avionics Power high: {1:.2} Volt", avionics_power_rail_voltage, high_error_threshold);
events::Log::Error, "Avionics Power high: {1:.2} Volt", _latest_high_failure_val, high_error_threshold);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avionics Power high: %6.2f Volt",
(double)avionics_power_rail_voltage);
(double)_latest_high_failure_val);
}
}

3
src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp
View File

@ -57,4 +57,7 @@ private:
(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
(ParamInt<px4::params::COM_POWER_COUNT>) _param_com_power_count
)
float _latest_low_failure_val = 0.0f;
float _latest_high_failure_val = 0.0f;
};