From 64d3c48770860586d4755b1d2e865e607af4b25e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 24 Aug 2014 13:32:46 +0200 Subject: Add warning for non-standard avionics rail voltages --- src/modules/commander/state_machine_helper.cpp | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) (limited to 'src') 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; + } } } -- cgit v1.2.3