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Copter: rename low_battery to failsafe.battery

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This commit is contained in:
Randy Mackay 2013-10-13 13:52:52 +09:00
parent 0e740bd4e1
commit 32f53624d6
6 changed files with 11 additions and 11 deletions
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4
ArduCopter/AP_State.pde
View File

@ -71,9 +71,9 @@ static void set_failsafe_radio(bool b)
// ---------------------------------------------
void set_low_battery(bool b)
void set_failsafe_battery(bool b)
{
failsafe.low_battery = b;
failsafe.battery = b;
AP_Notify::flags.failsafe_battery = b;
}

2
ArduCopter/ArduCopter.pde
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@ -422,7 +422,7 @@ static uint8_t receiver_rssi;
static struct {
uint8_t rc_override_active : 1; // 0 // true if rc control are overwritten by ground station
uint8_t radio : 1; // 1 // A status flag for the radio failsafe
uint8_t low_battery : 1; // 2 // A status flag for the battery failsafe
uint8_t battery : 1; // 2 // A status flag for the battery failsafe
uint8_t gps : 1; // 3 // A status flag for the gps failsafe
uint8_t gcs : 1; // 4 // A status flag for the ground station failsafe

2
ArduCopter/GCS_Mavlink.pde
View File

@ -51,7 +51,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
uint32_t custom_mode = control_mode;
// set system as critical if any failsafe have triggered
if (failsafe.radio || failsafe.low_battery || failsafe.gps || failsafe.gcs) {
if (failsafe.radio || failsafe.battery || failsafe.gps || failsafe.gcs) {
system_status = MAV_STATE_CRITICAL;
}

8
ArduCopter/events.pde
View File

@ -50,7 +50,7 @@ static void failsafe_radio_on_event()
break;
case LAND:
// continue to land if battery failsafe is also active otherwise fall through to default handling
if (g.failsafe_battery_enabled && failsafe.low_battery) {
if (g.failsafe_battery_enabled && failsafe.battery) {
break;
}
default:
@ -83,10 +83,10 @@ static void failsafe_radio_off_event()
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
}
static void low_battery_event(void)
static void failsafe_battery_event(void)
{
// return immediately if low battery event has already been triggered
if (failsafe.low_battery) {
if (failsafe.battery) {
return;
}
@ -121,7 +121,7 @@ static void low_battery_event(void)
}
// set the low battery flag
set_low_battery(true);
set_failsafe_battery(true);
// warn the ground station and log to dataflash
gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));

2
ArduCopter/leds.pde
View File

@ -60,7 +60,7 @@ static void update_copter_leds(void)
// motor leds control
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_ENABLED) {
if (motors.armed()) {
if (failsafe.low_battery) {
if (failsafe.battery) {
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BATT_OSCILLATE) {
copter_leds_oscillate(); //if motors are armed, but battery level is low, motor leds fast blink
} else {

4
ArduCopter/sensors.pde
View File

@ -110,8 +110,8 @@ static void read_battery(void)
// 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.low_battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
low_battery_event();
if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
failsafe_battery_event();
}
}