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failsafe: disarm if battery failure is detected during spoolup

This commit is contained in:
bresch 2023-11-06 14:51:24 +01:00 committed by Daniel Agar
parent 55fd0bde85
commit 3acc29410a
1 changed files with 9 additions and 1 deletions
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10
src/modules/commander/failsafe/failsafe.cpp
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@ -447,7 +447,15 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
// Battery
CHECK_FAILSAFE(status_flags, battery_low_remaining_time,
ActionOptions(Action::RTL).causedBy(Cause::BatteryLow).clearOn(ClearCondition::OnModeChangeOrDisarm));
CHECK_FAILSAFE(status_flags, battery_unhealthy, Action::Warn);
if ((_armed_time != 0)
&& (time_us < _armed_time + static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s))
) {
CHECK_FAILSAFE(status_flags, battery_unhealthy, ActionOptions(Action::Disarm).cannotBeDeferred());
} else {
CHECK_FAILSAFE(status_flags, battery_unhealthy, Action::Warn);
}
switch (status_flags.battery_warning) {
case battery_status_s::BATTERY_WARNING_LOW: