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121 lines
3.9 KiB
C++
121 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "../PreFlightCheck.hpp"
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#include <drivers/drv_hrt.h>
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#include <systemlib/mavlink_log.h>
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#include <lib/parameters/param.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/system_power.h>
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using namespace time_literals;
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unsigned int countSetBits(unsigned int n)
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{
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unsigned int count = 0;
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while (n) {
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count += n & 1;
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n >>= 1;
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}
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return count;
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}
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bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
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const bool prearm)
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{
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bool success = true;
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if (!prearm) {
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// Ignore power check after arming.
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return true;
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}
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uORB::SubscriptionData<system_power_s> system_power_sub{ORB_ID(system_power)};
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system_power_sub.update();
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const system_power_s &system_power = system_power_sub.get();
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if (hrt_elapsed_time(&system_power.timestamp) < 1_s) {
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// Check avionics rail voltages (if USB isn't connected)
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if (!system_power.usb_connected) {
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float avionics_power_rail_voltage = system_power.voltage5v_v;
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if (avionics_power_rail_voltage < 4.5f) {
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success = false;
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt",
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(double)avionics_power_rail_voltage);
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}
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} else if (avionics_power_rail_voltage < 4.8f) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
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}
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} else if (avionics_power_rail_voltage > 5.4f) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage);
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}
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}
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const int power_module_count = countSetBits(system_power.brick_valid);
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int32_t required_power_module_count = 0;
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param_get(param_find("COM_POWER_COUNT"), &required_power_module_count);
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if (power_module_count < required_power_module_count) {
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success = false;
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Power redundancy not met: %d instead of %d",
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power_module_count, required_power_module_count);
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}
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}
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}
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} else {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "system power unavailable");
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}
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success = false;
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}
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return success;
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}
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