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

commander: Enforce (in presence of power sensing) that a) system is not purely servo rail powered and b) power rail voltage is higher than 4.5V on the main avionics rail

Browse Source
This commit is contained in:
Lorenz Meier
2014-05-25 08:22:54 +02:00
parent 36495cdb62
commit c7bf00562d
3 changed files with 51 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
src/modules/commander/state_machine_helper.cpp
View File

@@ -144,6 +144,28 @@ arming_state_transition(struct vehicle_status_s *status, /// current
valid_transition = false;
}
// Fail transition if power is not good
if (!status->condition_power_input_valid) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
}
valid_transition = false;
}
// Fail transition if power levels on the avionics rail
// are insufficient
if ((status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.5f)) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage);
}
valid_transition = false;
}
} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {
new_arming_state = ARMING_STATE_STANDBY_ERROR;
}