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AP_Arming: Add minimum voltage to arm

This commit is contained in:
Michael du Breuil 2016-02-09 16:31:12 -07:00 committed by Tom Pittenger
parent bb44f20c57
commit 21bdf32d33
2 changed files with 31 additions and 3 deletions
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29
libraries/AP_Arming/AP_Arming.cpp
View File

@ -51,16 +51,33 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @User: Advanced
AP_GROUPINFO("ACCTHRESH", 3, AP_Arming, accel_error_threshold, AP_ARMING_ACCEL_ERROR_THRESHOLD),
// @Param: MIN_VOLT
// @DisplayName: Minimum arming voltage on the first battery
// @Description: The minimum voltage on the first battery to arm, 0 disabes the check
// @Units: Volts
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("MIN_VOLT", 4, AP_Arming, _min_voltage[0], 0),
// @Param: MIN_VOLT2
// @DisplayName: Minimum arming voltage on the second battery
// @Description: The minimum voltage on the first battery to arm, 0 disabes the check
// @Units: Volts
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("MIN_VOLT2", 5, AP_Arming, _min_voltage[1], 0),
AP_GROUPEND
};
//The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set) :
const AP_BattMonitor &battery, const enum HomeState &home_set) :
ahrs(ahrs_ref),
barometer(baro),
_compass(compass),
_battery(battery),
home_is_set(home_set),
armed(false),
logging_available(false),
@ -345,8 +362,16 @@ bool AP_Arming::battery_checks(bool report)
}
return false;
}
}
for (int i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
if ((_min_voltage[i] > 0.0f) && (_battery.voltage(i) < _min_voltage[i])) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Battery %d voltage below minimum", i);
}
return false;
}
}
}
return true;
}

5
libraries/AP_Arming/AP_Arming.h
View File

@ -4,6 +4,7 @@
#define __AP_ARMING_H__
#include <AP_AHRS/AP_AHRS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
@ -46,7 +47,7 @@ public:
};
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set);
const AP_BattMonitor &battery, const enum HomeState &home_set);
ArmingRequired arming_required();
bool arm(uint8_t method);
@ -71,11 +72,13 @@ protected:
AP_Int8 rudder_arming_value;
AP_Int16 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold;
AP_Float _min_voltage[2];
// references
const AP_AHRS &ahrs;
const AP_Baro &barometer;
Compass &_compass;
const AP_BattMonitor &_battery;
const enum HomeState &home_is_set;
// internal members