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battery:Only change the warning level on a connected battery.

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Connected is assumed when the battery voltages is greater than
   a predefined level.
This commit is contained in:
David Sidrane
2017-09-06 15:36:17 -10:00
committed by Daniel Agar
parent 63ac56aeb0
commit 24eb56aa27
2 changed files with 12 additions and 10 deletions
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20
src/modules/systemlib/battery.cpp
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@@ -95,7 +95,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
filterCurrent(current_a);
sumDischarged(timestamp, current_a);
estimateRemaining(voltage_v, current_a, throttle_normalized, armed);
determineWarning();
determineWarning(connected);
computeScale();
if (_voltage_filtered_v > 2.1f) {
@@ -222,17 +222,19 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
}
void
Battery::determineWarning()
Battery::determineWarning(bool connected)
{
// Smallest values must come first
if (_remaining < _param_emergency_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
if (connected) {
// Smallest values must come first
if (_remaining < _param_emergency_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (_remaining < _param_crit_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (_remaining < _param_crit_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (_remaining < _param_low_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_LOW;
} else if (_remaining < _param_low_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_LOW;
}
}
}