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esc_calibration: simplify the logic and consider battery only connected if there's no message timeout and the connected flag is set

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Matthias Grob 2025-05-14 17:40:51 +02:00 committed by Daniel Agar
parent eedd770cbd
commit ea12400ea3
1 changed files with 2 additions and 8 deletions
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10
src/modules/commander/esc_calibration.cpp
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@ -63,19 +63,13 @@ bool check_battery_disconnected(orb_advert_t *mavlink_log_pub)
const bool recent_battery_measurement = hrt_absolute_time() < (battery_status_sub.get().timestamp + 1_s);
if (recent_battery_measurement) {
// We have to send this message for now because "battery unavailable" gets ignored by QGC
if (recent_battery_measurement && battery_status_sub.get().connected) {
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
return false;
}
// Make sure battery is reported to be disconnected
if (!recent_battery_measurement && !battery_status_sub.get().connected) {
} else {
return true;
}
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
return false;
}
static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, float value, bool release_control)