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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-25 20:34:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-25 20:34:32 +0200 |
| commit | 064329dd099819b0f0b8a9a7bc0233440fdf6df1 (patch) | |
| tree | fe6bfe67678f251fa92b8649ddb19c1a776e9405 /src/modules/commander/commander.cpp | |
| parent | 032fe389a5630a22c9da4642d79b3fae05a213f5 (diff) | |
| download | px4-firmware-064329dd099819b0f0b8a9a7bc0233440fdf6df1.tar.gz px4-firmware-064329dd099819b0f0b8a9a7bc0233440fdf6df1.tar.bz2 px4-firmware-064329dd099819b0f0b8a9a7bc0233440fdf6df1.zip | |
commander: put circuit breaker into effect
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 55c74fdff..71067ac4f 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -52,6 +52,7 @@ #include <fcntl.h> #include <errno.h> #include <systemlib/err.h> +#include <systemlib/circuit_breaker.h> #include <debug.h> #include <sys/prctl.h> #include <sys/stat.h> @@ -721,6 +722,9 @@ int commander_thread_main(int argc, char *argv[]) status.condition_power_input_valid = true; status.avionics_power_rail_voltage = -1.0f; + // CIRCUIT BREAKERS + status.circuit_breaker_engaged_power_check = false; + /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); @@ -907,6 +911,9 @@ int commander_thread_main(int argc, char *argv[]) /* check and update system / component ID */ param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); + + status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); + status_changed = true; /* re-check RC calibration */ |