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AP_BattMonitor: Add powering off mavlink broadcast

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Matt 2018-11-27 19:37:13 -05:00 committed by WickedShell
parent ce3de6b047
commit 134e7fb81c
3 changed files with 33 additions and 5 deletions
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26
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -14,6 +14,7 @@
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Notify/AP_Notify.h>
extern const AP_HAL::HAL& hal;
@ -244,6 +245,8 @@ AP_BattMonitor::read()
}
check_failsafes();
checkPoweringOff();
}
// healthy - returns true if monitor is functioning
@ -464,6 +467,29 @@ bool AP_BattMonitor::arming_checks(size_t buflen, char *buffer) const
return true;
}
// Check's each smart battery instance for its powering off state and broadcasts notifications
void AP_BattMonitor::checkPoweringOff(void)
{
for (uint8_t i = 0; i < _num_instances; i++) {
if (state[i].is_powering_off && !state[i].powerOffNotified) {
// Set the AP_Notify flag, which plays the power off tones
AP_Notify::flags.powering_off = true;
// Send a Mavlink broadcast announcing the shutdown
mavlink_message_t msg;
mavlink_command_long_t cmd_msg;
cmd_msg.command = MAV_CMD_POWER_OFF_INITIATED;
cmd_msg.param1 = i+1;
mavlink_msg_command_long_encode(mavlink_system.sysid, MAV_COMP_ID_ALL, &msg, &cmd_msg);
GCS_MAVLINK::send_to_components(&msg);
gcs().send_text(MAV_SEVERITY_WARNING, "Vehicle %d battery %d is powering off", mavlink_system.sysid, i+1);
// only send this once
state[i].powerOffNotified = true;
}
}
}
namespace AP {
AP_BattMonitor &battery()

5
libraries/AP_BattMonitor/AP_BattMonitor.h
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@ -78,6 +78,8 @@ public:
float resistance; // resistance, in Ohms, calculated by comparing resting voltage vs in flight voltage
BatteryFailsafe failsafe; // stage failsafe the battery is in
bool healthy; // battery monitor is communicating correctly
bool is_powering_off; // true when power button commands power off
bool powerOffNotified; // only send powering off notification once
};
// Return the number of battery monitor instances
@ -168,6 +170,9 @@ public:
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
bool arming_checks(size_t buflen, char *buffer) const;
// sends powering off mavlink broadcasts and sets notify flag
void checkPoweringOff(void);
static const struct AP_Param::GroupInfo var_info[];
protected:

7
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp
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@ -1,7 +1,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_Notify/AP_Notify.h>
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_SMBus_Solo.h"
#include <utility>
@ -80,16 +79,14 @@ void AP_BattMonitor_SMBus_Solo::timer()
bool pressed = (buff[1] >> 3) & 0x01;
if (_button_press_count >= BATTMONITOR_SMBUS_SOLO_BUTTON_DEBOUNCE) {
// battery will power off
AP_Notify::flags.powering_off = true;
// vehicle will power off, set state flag
_state.is_powering_off = true;
} else if (pressed) {
// battery will power off if the button is held
_button_press_count++;
} else {
// button released, reset counters
_button_press_count = 0;
AP_Notify::flags.powering_off = false;
}
}