mirror of https://github.com/ArduPilot/ardupilot
36 lines
961 B
Lua
36 lines
961 B
Lua
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--[[
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script implementing pre-arm check that internal resistance is sensible
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--]]
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local MAX_RESISTANCE = 0.03 -- Ohms
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local auth_id = assert(arming:get_aux_auth_id())
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local warning_last_sent_ms = uint32_t() -- time we last sent a warning message to the user
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warning_interval_ms = 10000
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function update()
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local num_batts = battery:num_instances()
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local ok = true
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for i=0,num_batts do
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local resistance = battery:get_resistance(i)
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failed = resistance > MAX_RESISTANCE
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if failed then
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msg = string.format("Batt[%u] high internal resistance %.5f Ohms", i+1, resistance)
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if millis() - warning_last_sent_ms > warning_interval_ms then
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gcs:send_text(0, msg)
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warning_last_sent_ms = millis()
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end
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arming:set_aux_auth_failed(auth_id, msg)
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ok = false
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end
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end
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if ok then
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arming:set_aux_auth_passed(auth_id)
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end
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return update, 500
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end
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return update()
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