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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-24 16:26:42 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-24 16:26:42 +0200 |
| commit | e52f7770be443301a40ee6df40498c64083b4884 (patch) | |
| tree | 4ce8013d008e2e78cbca76fba72813bc4f918c02 /src/modules/commander/state_machine_helper.cpp | |
| parent | bdccd69030e56381d906afeabc8305dbe18e2de6 (diff) | |
| parent | 3454c42596d8c0c1bec59dec87f4a53910f83731 (diff) | |
| download | px4-firmware-e52f7770be443301a40ee6df40498c64083b4884.tar.gz px4-firmware-e52f7770be443301a40ee6df40498c64083b4884.tar.bz2 px4-firmware-e52f7770be443301a40ee6df40498c64083b4884.zip | |
Merge remote-tracking branch 'upstream/master' into obcfailsafe
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 19 |
1 files changed, 13 insertions, 6 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 4506942ab..098ff1a3d 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -182,12 +182,19 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s // Fail transition if power levels on the avionics rail // are measured but are insufficient - if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) && - (status->avionics_power_rail_voltage < 4.9f))) { - - mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage); - feedback_provided = true; - valid_transition = false; + if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f)) { + // Check avionics rail voltages + if (status->avionics_power_rail_voltage < 4.75f) { + mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage); + feedback_provided = true; + valid_transition = false; + } else if (status->avionics_power_rail_voltage < 4.9f) { + mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage); + feedback_provided = true; + } else if (status->avionics_power_rail_voltage > 5.4f) { + mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage); + feedback_provided = true; + } } } |