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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 14:45:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 14:45:12 +0200 |
| commit | 582b493f847b3dc509b15c109d962f5fdc01eb49 (patch) | |
| tree | e2bee32cc2a61548c9507ceb19c90f47d2628882 /src | |
| parent | 10c63869307e0f296d511d0ff84a68838369e56e (diff) | |
| parent | 163224eda20657b867142df380cb7e5311c82e97 (diff) | |
| download | px4-firmware-582b493f847b3dc509b15c109d962f5fdc01eb49.tar.gz px4-firmware-582b493f847b3dc509b15c109d962f5fdc01eb49.tar.bz2 px4-firmware-582b493f847b3dc509b15c109d962f5fdc01eb49.zip | |
Merge branch 'master' of github.com:PX4/Firmware into ekf_varweight
Diffstat (limited to 'src')
| -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 f8589d24b..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 < 4.9f))) { - - 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; + } } } |