Merge remote-tracking branch 'upstream/master' into obcfailsafe

2 files changed, 23 insertions, 14 deletions

diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 0e58c68b6..339b11bbe 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -180,11 +180,13 @@ int do_airspeed_calibration(int mavlink_fd)
 		return ERROR;
 	}
 
-	mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset);
+	mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset);
 
 	/* wait 500 ms to ensure parameter propagated through the system */
 	usleep(500 * 1000);
 
+	mavlink_log_critical(mavlink_fd, "Create airflow now");
+
 	calibration_counter = 0;
 	const unsigned maxcount = 3000;
 
@@ -204,18 +206,18 @@ int do_airspeed_calibration(int mavlink_fd)
 			calibration_counter++;
 
 			if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
-				if (calibration_counter % 100 == 0) {
-					mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
-					(int)diff_pres.differential_pressure_raw_pa);
+				if (calibration_counter % 500 == 0) {
+					mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)",
+						(int)diff_pres.differential_pressure_raw_pa);
 				}
 				continue;
 			}
 
 			/* do not allow negative values */
 			if (diff_pres.differential_pressure_raw_pa < 0.0f) {
-				mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)",
-					(int)diff_pres.differential_pressure_raw_pa);
-				mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
+				mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
+				mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
+						(int)diff_pres.differential_pressure_raw_pa);
 				close(diff_pres_sub);
 
 				/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -236,7 +238,7 @@ int do_airspeed_calibration(int mavlink_fd)
 				mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 				return ERROR;
 			} else {
-				mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)",
+				mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
 					(int)diff_pres.differential_pressure_raw_pa);
 				break;
 			}
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;
+							}
 						}
 					}