diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 13:32:46 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 13:32:46 +0200 |
| commit | 64d3c48770860586d4755b1d2e865e607af4b25e (patch) | |
| tree | f3f32319068cd7d7bec8ea8367439fbdb2b1a2f3 /src/modules/commander | |
| parent | bf8956d2e87b29af25392b74a24ea0da8d422d4b (diff) | |
| download | px4-firmware-64d3c48770860586d4755b1d2e865e607af4b25e.tar.gz px4-firmware-64d3c48770860586d4755b1d2e865e607af4b25e.tar.bz2 px4-firmware-64d3c48770860586d4755b1d2e865e607af4b25e.zip | |
Add warning for non-standard avionics rail voltages
Diffstat (limited to 'src/modules/commander')
| -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 c9fc9218c..684c61a17 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 < 4.75f))) { - - 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; + 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; + } } } |