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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/state_machine_helper.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/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 32 |
1 files changed, 18 insertions, 14 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 818974648..84f4d03af 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -144,26 +144,30 @@ 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) { + // Perform power checks only if circuit breaker is not + // engaged for these checks + if (!status->circuit_breaker_engaged_power_check) { + // 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."); + } - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module."); + valid_transition = false; } - 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)) { - // 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); + } - 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; } - - valid_transition = false; } } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { |