Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: failsafe_battery_event() -> failsafe_battery_check()

This commit is contained in:
Jacob Walser 2017-03-24 13:10:08 -04:00
parent 16fedbb9c9
commit 6bd05e4bac
3 changed files with 4 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduSub/Sub.h
View File

@ -624,7 +624,7 @@ private:
void failsafe_ekf_event();
void failsafe_ekf_off_event(void);
bool should_disarm_on_failsafe();
void failsafe_battery_event(void);
void failsafe_battery_check(void);
void failsafe_gcs_check();
void failsafe_manual_control_check(void);
void set_neutral_controls(void);

2
ArduSub/failsafe.cpp
View File

@ -70,7 +70,7 @@ void Sub::failsafe_check()
}
}
void Sub::failsafe_battery_event(void)
void Sub::failsafe_battery_check(void)
{
// // return immediately if low battery event has already been triggered
// if (failsafe.battery) {

7
ArduSub/sensors.cpp
View File

@ -160,15 +160,12 @@ void Sub::read_battery(void)
if (battery.get_type() != AP_BattMonitor::BattMonitor_TYPE_NONE) {
motors.set_voltage(battery.voltage());
}
if (battery.has_current()) {
motors.set_current(battery.current_amps());
}
// check for low voltage or current if the low voltage check hasn't already been triggered
// we only check when we're not powered by USB to avoid false alarms during bench tests
if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
failsafe_battery_event();
}
failsafe_battery_check();
// log battery info to the dataflash
if (should_log(MASK_LOG_CURRENT)) {