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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-01 13:30:24 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-01 13:30:24 +0100 |
commit | 4eb7df6ff5b0015a825ca07c1206dd545b4567b5 (patch) | |
tree | 9e4582abfabb567fa250e44830c54e668c3e0921 /apps/commander/commander.c | |
parent | d93fda20fd55746923d607e717f254bc92741eab (diff) | |
download | px4-firmware-4eb7df6ff5b0015a825ca07c1206dd545b4567b5.tar.gz px4-firmware-4eb7df6ff5b0015a825ca07c1206dd545b4567b5.tar.bz2 px4-firmware-4eb7df6ff5b0015a825ca07c1206dd545b4567b5.zip |
Introduced battery_status uORB topic, changed sensors app to publish to it, extended px4io driver to publish to it. Both do only so if the battery voltage is reasonably high, at 3.3V
Diffstat (limited to 'apps/commander/commander.c')
-rw-r--r-- | apps/commander/commander.c | 28 |
1 files changed, 19 insertions, 9 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 7277e9fa4..17087ab8a 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -70,6 +70,7 @@ #include <poll.h> #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> +#include <uORB/topics/battery_status.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/offboard_control_setpoint.h> #include <uORB/topics/vehicle_gps_position.h> @@ -1262,6 +1263,11 @@ int commander_thread_main(int argc, char *argv[]) struct vehicle_command_s cmd; memset(&cmd, 0, sizeof(cmd)); + /* subscribe to battery topic */ + int battery_sub = orb_subscribe(ORB_ID(battery_status)); + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + // uint8_t vehicle_state_previous = current_status.state_machine; float voltage_previous = 0.0f; @@ -1300,15 +1306,19 @@ int commander_thread_main(int argc, char *argv[]) handle_command(stat_pub, ¤t_status, &cmd); } - battery_voltage = sensors.battery_voltage_v; - battery_voltage_valid = sensors.battery_voltage_valid; - - /* - * Only update battery voltage estimate if voltage is - * valid and system has been running for two and a half seconds - */ - if (battery_voltage_valid && (hrt_absolute_time() - start_time > 2500000)) { - bat_remain = battery_remaining_estimate_voltage(battery_voltage); + orb_check(battery_sub, &new_data); + if (new_data) { + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + battery_voltage = battery.voltage_v; + battery_voltage_valid = true; + + /* + * Only update battery voltage estimate if system has + * been running for two and a half seconds. + */ + if (hrt_absolute_time() - start_time > 2500000) { + bat_remain = battery_remaining_estimate_voltage(battery_voltage); + } } /* Slow but important 8 Hz checks */ |