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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-14 15:45:49 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-14 15:45:49 +0100 |
commit | 97e4522c76c7859f893c7159f7a86f586fd0789b (patch) | |
tree | 32a06f61c67bad4e4b574c0f6bb5d03cc58100bb /src/modules/commander/commander.cpp | |
parent | 7bcddd192fba723d165957043163762b2e08d802 (diff) | |
parent | b529e112b8ffaa92274f9dc5d94a1fce581a358e (diff) | |
download | px4-firmware-97e4522c76c7859f893c7159f7a86f586fd0789b.tar.gz px4-firmware-97e4522c76c7859f893c7159f7a86f586fd0789b.tar.bz2 px4-firmware-97e4522c76c7859f893c7159f7a86f586fd0789b.zip |
Merge branch 'master' into navigator_new_vector
Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 65 |
1 files changed, 19 insertions, 46 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 1e5318121..dbfca38b1 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -106,14 +106,9 @@ static const int ERROR = -1; extern struct system_load_s system_load; -#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f -#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f - /* Decouple update interval and hysteris counters, all depends on intervals */ #define COMMANDER_MONITORING_INTERVAL 50000 #define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) -#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) #define MAVLINK_OPEN_INTERVAL 50000 @@ -666,8 +661,6 @@ int commander_thread_main(int argc, char *argv[]) /* Start monitoring loop */ unsigned counter = 0; - unsigned low_voltage_counter = 0; - unsigned critical_voltage_counter = 0; unsigned stick_off_counter = 0; unsigned stick_on_counter = 0; @@ -745,7 +738,6 @@ int commander_thread_main(int argc, char *argv[]) int battery_sub = orb_subscribe(ORB_ID(battery_status)); struct battery_status_s battery; memset(&battery, 0, sizeof(battery)); - battery.voltage_v = 0.0f; /* Subscribe to subsystem info topic */ int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); @@ -888,14 +880,12 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(battery_status), battery_sub, &battery); - - // warnx("bat v: %2.2f", battery.voltage_v); - - /* only consider battery voltage if system has been running 2s and battery voltage is higher than 4V */ - if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_v > 4.0f) { - status.battery_voltage = battery.voltage_v; + /* 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(status.battery_voltage); + status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah); } } @@ -948,46 +938,29 @@ int commander_thread_main(int argc, char *argv[]) //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); } - // XXX remove later - //warnx("bat remaining: %2.2f", status.battery_remaining); - /* 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) { - //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS - if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { - low_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY"); - status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; - status_changed = true; - battery_tune_played = false; - } - - low_voltage_counter++; + low_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY"); + status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; + status_changed = true; + battery_tune_played = false; } else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { /* critical battery voltage, this is rather an emergency, change state machine */ - if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { - critical_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY"); - status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; - battery_tune_played = false; - - if (armed.armed) { - arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + critical_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY"); + status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; + battery_tune_played = false; - } else { - arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); - } + if (armed.armed) { + arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); - status_changed = true; + } else { + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); } - critical_voltage_counter++; - - } else { - - low_voltage_counter = 0; - critical_voltage_counter = 0; + status_changed = true; } /* End battery voltage check */ |