yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

supports MindPXv2 borad which is a product from AirMind.

Browse Source
This commit is contained in:
Felix Hu
2016-03-12 12:50:14 +08:00
committed by Lorenz Meier
parent adab451013
commit bd580e09bf
49 changed files with 9941 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/modules/commander/state_machine_helper.cpp
View File

@@ -71,6 +71,14 @@
using namespace DriverFramework;
#endif
#ifdef CONFIG_ARCH_BOARD_MINDPX_V2
#define AVIONICS_ERROR_VOLTAGE 3.75f
#define AVIONICS_WARN_VOLTAGE 3.9f
#else
#define AVIONICS_ERROR_VOLTAGE 4.5f
#define AVIONICS_WARN_VOLTAGE 4.9f
#endif
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
@@ -213,11 +221,11 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
// are measured but are insufficient
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f)) {
// Check avionics rail voltages
if (status->avionics_power_rail_voltage < 4.5f) {
if (status->avionics_power_rail_voltage < AVIONICS_ERROR_VOLTAGE) {
mavlink_and_console_log_critical(mavlink_log_pub, "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) {
} else if (status->avionics_power_rail_voltage < AVIONICS_WARN_VOLTAGE) {
mavlink_and_console_log_critical(mavlink_log_pub, "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) {