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Merge remote-tracking branch 'upstream/master' into obcfailsafe

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This commit is contained in:
Thomas Gubler
2014-08-24 16:26:42 +02:00
parent bdccd69030 3454c42596
commit e52f7770be
25 changed files with 964 additions and 202 deletions
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src/modules/commander/airspeed_calibration.cpp
+10 -8
View File
@@ -180,11 +180,13 @@ int do_airspeed_calibration(int mavlink_fd)
return ERROR;
}
mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset);
mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);
mavlink_log_critical(mavlink_fd, "Create airflow now");
calibration_counter = 0;
const unsigned maxcount = 3000;
@@ -204,18 +206,18 @@ int do_airspeed_calibration(int mavlink_fd)
calibration_counter++;
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 100 == 0) {
mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
(int)diff_pres.differential_pressure_raw_pa);
if (calibration_counter % 500 == 0) {
mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
}
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -236,7 +238,7 @@ int do_airspeed_calibration(int mavlink_fd)
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
return ERROR;
} else {
mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)",
mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
break;
}
src/modules/commander/state_machine_helper.cpp
+13 -6
View File
@@ -182,12 +182,19 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
// Fail transition if power levels on the avionics rail
// are measured but are insufficient
if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.9f))) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
valid_transition = false;
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f)) {
// Check avionics rail voltages
if (status->avionics_power_rail_voltage < 4.75f) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
valid_transition = false;
} else if (status->avionics_power_rail_voltage < 4.9f) {
mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
} else if (status->avionics_power_rail_voltage > 5.4f) {
mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
}
}
}