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commander: pass battery status to preflight check

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A low battery check was recently added to the preflight check, therefore
we need to pass on the information about the battery.
This commit is contained in:
Julian Oes
2016-04-07 16:19:20 +02:00
parent 68a69c9d46
commit 974223bdd1
3 changed files with 25 additions and 35 deletions
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28
src/modules/commander/state_machine_helper.cpp
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@@ -110,6 +110,7 @@ static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked
static int last_prearm_ret = 1; ///< initialize to fail
transition_result_t arming_state_transition(struct vehicle_status_s *status,
struct battery_status_s *battery,
const struct safety_s *safety,
arming_state_t new_arming_state,
struct actuator_armed_s *armed,
@@ -142,7 +143,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags);
status_flags, battery);
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags->condition_system_sensors_initialized
@@ -152,7 +153,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */,
status_flags);
status_flags, battery);
status_flags->condition_system_sensors_initialized = !prearm_ret;
last_preflight_check = hrt_absolute_time();
last_prearm_ret = prearm_ret;
@@ -255,26 +256,16 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
<<<<<<< 4ed69db0abb4b3b2f191ba77949e9c6817eaf169
if (status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
=======
if (status_flags->condition_system_sensors_initialized) {
// mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
>>>>>>> commander: internalize system status bools
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
} else {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check failed, refusing to arm");
}
feedback_provided = true;
} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
<<<<<<< 4ed69db0abb4b3b2f191ba77949e9c6817eaf169
status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
=======
status_flags->condition_system_sensors_initialized) {
// mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
>>>>>>> commander: internalize system status bools
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
feedback_provided = true;
} else {
// Silent ignore
@@ -289,13 +280,8 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if ((!status_flags->condition_system_prearm_error_reported &&
status_flags->condition_system_hotplug_timeout) ||
(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
<<<<<<< 4ed69db0abb4b3b2f191ba77949e9c6817eaf169
mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not set up correctly");
status->condition_system_prearm_error_reported = true;
=======
mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not initialized");
status_flags->condition_system_prearm_error_reported = true;
>>>>>>> commander: internalize system status bools
}
feedback_provided = true;
valid_transition = false;
@@ -879,7 +865,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
return status->nav_state != nav_state_old;
}
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags)
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery)
{
/*
*/
@@ -904,7 +890,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
}
}
if (status->battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
if (battery->warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
preflight_ok = false;
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "ARMING DENIED: VERY LOW BATTERY");