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commander: moved emergency shutdown to end of cycle

This commit is contained in:
Alessandro Simovic 2018-05-30 11:28:21 +02:00 committed by Lorenz Meier
parent 861af1dac7
commit 52c290e234
1 changed files with 18 additions and 11 deletions
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29
src/modules/commander/commander.cpp
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@ -1308,6 +1308,7 @@ Commander::run()
bool low_battery_voltage_actions_done = false;
bool critical_battery_voltage_actions_done = false;
bool emergency_battery_voltage_actions_done = false;
bool dangerous_battery_level_requests_poweroff = false;
bool status_changed = true;
bool param_init_forced = true;
@ -1967,17 +1968,9 @@ Commander::run()
emergency_battery_voltage_actions_done = true;
if (!armed.armed) {
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
usleep(200000);
int ret_val = px4_shutdown_request(false, false);
if (ret_val) {
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
} else {
while (1) { usleep(1); }
}
// Request shutdown at the end of the cycle. This allows
// the vehicle state to be published after emergency landing
dangerous_battery_level_requests_poweroff = true;
} else {
if (low_bat_action == 2 || low_bat_action == 3) {
if (TRANSITION_CHANGED == main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, &internal_state)) {
@ -2747,6 +2740,20 @@ Commander::run()
arm_auth_update(now, params_updated || param_init_forced);
// Handle shutdown request from emergency battery action
if(dangerous_battery_level_requests_poweroff){
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
usleep(200000);
int ret_val = px4_shutdown_request(false, false);
if (ret_val) {
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
} else {
while (1) { usleep(1); }
}
}
usleep(COMMANDER_MONITORING_INTERVAL);
}