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AP_BattMonitor: Detect bad configuration of failsafes

This commit is contained in:
Michael du Breuil 2019-08-19 18:01:48 -07:00 committed by Francisco Ferreira
parent e47f97c5d3
commit ee3fcf49c6
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
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@ -161,6 +161,12 @@ bool AP_BattMonitor_Backend::arming_checks(char * buffer, size_t buflen) const
(_state.voltage < _params._arming_minimum_voltage);
bool below_arming_capacity = (_params._arming_minimum_capacity > 0) &&
((_params._pack_capacity - _state.consumed_mah) < _params._arming_minimum_capacity);
bool fs_capacity_inversion = is_positive(_params._critical_capacity) &&
is_positive(_params._low_capacity) &&
(_params._low_capacity < _params._critical_capacity);
bool fs_voltage_inversion = is_positive(_params._critical_voltage) &&
is_positive(_params._low_voltage) &&
(_params._low_voltage < _params._critical_voltage);
bool result = update_check(buflen, buffer, low_voltage, "low voltage failsafe");
result = result && update_check(buflen, buffer, low_capacity, "low capacity failsafe");
@ -168,6 +174,8 @@ bool AP_BattMonitor_Backend::arming_checks(char * buffer, size_t buflen) const
result = result && update_check(buflen, buffer, critical_capacity, "critical capacity failsafe");
result = result && update_check(buflen, buffer, below_arming_voltage, "below minimum arming voltage");
result = result && update_check(buflen, buffer, below_arming_capacity, "below minimum arming capacity");
result = result && update_check(buflen, buffer, fs_capacity_inversion, "capacity failsafe critical > low");
result = result && update_check(buflen, buffer, fs_voltage_inversion, "voltage failsafe critical > low");
return result;
}