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AP_BoardConfig: Add minimum board and servo voltage parameters

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This commit is contained in:
Michael du Breuil 2018-11-10 14:42:24 -07:00 committed by Francisco Ferreira
parent be8d4e6c9d
commit 6a41f0c86a
2 changed files with 48 additions and 0 deletions
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27
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -100,6 +100,10 @@
#define BOARD_PWM_COUNT_DEFAULT 8
#endif
#ifndef BOARD_CONFIG_BOARD_VOLTAGE_MIN
#define BOARD_CONFIG_BOARD_VOLTAGE_MIN 4.3f
#endif
extern const AP_HAL::HAL& hal;
AP_BoardConfig *AP_BoardConfig::instance;
@ -226,6 +230,29 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Path: ../AP_RTC/AP_RTC.cpp
AP_SUBGROUPINFO(rtc, "RTC", 14, AP_BoardConfig, AP_RTC),
#if HAL_HAVE_BOARD_VOLTAGE
// @Param: VBUS_MIN
// @DisplayName: Autopilot board voltage requirement
// @Description: Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
// @Units: V
// @Range: 4.0 5.5
// Increment 0.1
// @User: Advanced
AP_GROUPINFO("VBUS_MIN", 15, AP_BoardConfig, _vbus_min, BOARD_CONFIG_BOARD_VOLTAGE_MIN),
#endif
#if HAL_HAVE_SERVO_VOLTAGE
// @Param: VSERVO_MIN
// @DisplayName: Servo voltage requirement
// @Description: Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
// @Units: V
// @Range: 3.3 12.0
// Increment 0.1
// @User: Advanced
AP_GROUPINFO("VSERVO_MIN", 16, AP_BoardConfig, _vservo_min, 0),
#endif
AP_GROUPEND
};

21
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -143,6 +143,19 @@ public:
#endif
}
#if HAL_HAVE_BOARD_VOLTAGE
// get minimum board voltage
static float get_minimum_board_voltage(void) {
return instance?instance->_vbus_min.get():0;
}
#endif
#if HAL_HAVE_SERVO_VOLTAGE
// get minimum servo voltage
static float get_minimum_servo_voltage(void) {
return instance?instance->_vservo_min.get():0;
}
#endif
private:
static AP_BoardConfig *instance;
@ -207,4 +220,12 @@ private:
// real-time-clock; private because access is via the singleton
AP_RTC rtc;
#if HAL_HAVE_BOARD_VOLTAGE
AP_Float _vbus_min;
#endif
#if HAL_HAVE_SERVO_VOLTAGE
AP_Float _vservo_min;
#endif
};