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HAL_PX4: only consider power to have changed when armed

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this prevents false positives with multi-battery setups
This commit is contained in:
Andrew Tridgell 2015-04-28 10:54:30 +10:00
parent 3c9ed9b5a6
commit 020d9ea78a
1 changed files with 2 additions and 5 deletions
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7
libraries/AP_HAL_PX4/AnalogIn.cpp
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@ -361,11 +361,8 @@ void PX4AnalogIn::_timer_tick(void)
if (system_power.hipower_5V_OC) flags |= MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT; if (system_power.hipower_5V_OC) flags |= MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT;
if (_power_flags != 0 && if (_power_flags != 0 &&
_power_flags != flags && _power_flags != flags &&
hal.scheduler->millis() > 5000) { hal.util->get_soft_armed()) {
// the power status has changed since boot, and more // the power status has changed while armed
// than 5s after power on. The 5 second threshold is
// for users who have multiple switches, and they
// don't switch both at the same time.
flags |= MAV_POWER_STATUS_CHANGED; flags |= MAV_POWER_STATUS_CHANGED;
} }
_power_flags = flags; _power_flags = flags;