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Merge remote-tracking branch 'upstream/master' into obcfailsafe

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This commit is contained in:
Thomas Gubler
2014-07-22 21:20:04 +02:00
parent a9a8f1435f 1b5d4e5bd4
commit ed19faf428
28 changed files with 1551 additions and 31 deletions
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15
src/modules/commander/commander.cpp
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@@ -913,6 +913,11 @@ int commander_thread_main(int argc, char *argv[])
struct system_power_s system_power;
memset(&system_power, 0, sizeof(system_power));
/* Subscribe to actuator controls (outputs) */
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
control_status_leds(&status, &armed, true);
/* now initialized */
@@ -1196,13 +1201,17 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
/* only consider battery voltage if system has been running 2s and battery voltage is valid */
if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
status.battery_voltage = battery.voltage_filtered_v;
status.battery_current = battery.current_a;
status.condition_battery_voltage_valid = true;
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah);
/* get throttle (if armed), as we only care about energy negative throttle also counts */
float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle);
}
}
@@ -1272,13 +1281,13 @@ int commander_thread_main(int argc, char *argv[])
}
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.18f && !low_battery_voltage_actions_done) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");