diff options
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/commander/commander.c | 3 | ||||
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 3 | ||||
| -rw-r--r-- | apps/mathlib/CMSIS/Makefile | 2 | ||||
| -rw-r--r-- | apps/uORB/topics/vehicle_status.h | 8 |
4 files changed, 14 insertions, 2 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 17087ab8a..986266843 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1200,6 +1200,7 @@ int commander_thread_main(int argc, char *argv[]) /* mark all signals lost as long as they haven't been found */ current_status.rc_signal_lost = true; current_status.offboard_control_signal_lost = true; + current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; /* advertise to ORB */ stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); @@ -1393,6 +1394,7 @@ int commander_thread_main(int argc, char *argv[]) if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { low_battery_voltage_actions_done = true; + current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; mavlink_log_critical(mavlink_fd, "[commander] WARNING! LOW BATTERY!"); } @@ -1403,6 +1405,7 @@ int commander_thread_main(int argc, char *argv[]) else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { critical_battery_voltage_actions_done = true; + current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CRITICAL BATTERY!"); state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); } diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 82ff61808..fd531a327 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -388,7 +388,8 @@ PX4IO::task_main() if (fds[1].revents & POLLIN) { /* get controls */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* scale controls to PWM (temporary measure) */ for (unsigned i = 0; i < _max_actuators; i++) diff --git a/apps/mathlib/CMSIS/Makefile b/apps/mathlib/CMSIS/Makefile index 0b6794470..fa5de668a 100644 --- a/apps/mathlib/CMSIS/Makefile +++ b/apps/mathlib/CMSIS/Makefile @@ -38,7 +38,7 @@ # # Find sources # -DSPLIB_SRCDIR = $(dir $(lastword $(MAKEFILE_LIST))) +DSPLIB_SRCDIR := $(dir $(lastword $(MAKEFILE_LIST))) CSRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c) INCLUDES += $(DSPLIB_SRCDIR)/Include \ diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h index 23172d7cf..75c9ea0fc 100644 --- a/apps/uORB/topics/vehicle_status.h +++ b/apps/uORB/topics/vehicle_status.h @@ -99,6 +99,13 @@ enum VEHICLE_ATTITUDE_MODE { VEHICLE_ATTITUDE_MODE_ATTITUDE /**< tait-bryan attitude control mode */ }; +enum VEHICLE_BATTERY_WARNING { + VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ + VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */ + VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */ +}; + + /** * state machine / state of vehicle. * @@ -157,6 +164,7 @@ struct vehicle_status_s float voltage_battery; float current_battery; float battery_remaining; + enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */ uint16_t drop_rate_comm; uint16_t errors_comm; uint16_t errors_count1; |