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commander: move battery warning 

The battery warning is not consumed anywhere, therefore scrap it from
the vehicle_status message.
This commit is contained in:
Julian Oes 2016-02-24 10:37:43 +00:00
parent 8e9e9f8a8b
commit 699b08c9fd
2 changed files with 16 additions and 11 deletions
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4
msg/vehicle_status.msg
View File

@ -51,10 +51,6 @@ uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_MAX = 20
uint8 VEHICLE_BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
uint8 VEHICLE_BATTERY_WARNING_LOW = 1 # warning of low voltage
uint8 VEHICLE_BATTERY_WARNING_CRITICAL = 2 # alerting of critical voltage
uint8 RC_IN_MODE_DEFAULT = 0
uint8 RC_IN_MODE_OFF = 1
uint8 RC_IN_MODE_GENERATED = 2

23
src/modules/commander/commander.cpp
View File

@ -174,6 +174,15 @@ enum MAV_MODE_FLAG {
MAV_MODE_FLAG_ENUM_END = 129, /* | */
};
enum class vehicle_battery_warning {
NONE = 0, // no battery low voltage warning active
LOW = 1, // warning of low voltage
CRITICAL = 2, // alerting of critical voltage
};
static vehicle_battery_warning battery_warning = vehicle_battery_warning::NONE;
/* Mavlink log uORB handle */
static orb_advert_t mavlink_log_pub = 0;
@ -1247,7 +1256,7 @@ int commander_thread_main(int argc, char *argv[])
status.data_link_lost = true;
/* set battery warning flag */
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_NONE;
battery_warning = vehicle_battery_warning::NONE;
status.condition_battery_voltage_valid = false;
// XXX for now just set sensors as initialized
@ -2036,14 +2045,14 @@ int commander_thread_main(int argc, char *argv[])
} else {
mavlink_log_critical(&mavlink_log_pub, "LOW BATTERY, TAKEOFF DISCOURAGED");
}
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW;
battery_warning = vehicle_battery_warning::LOW;
status_changed = true;
} else if (!status.usb_connected && status.condition_battery_voltage_valid && status.battery_remaining < 0.09f
&& !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL;
battery_warning = vehicle_battery_warning::CRITICAL;
if (armed.armed) {
mavlink_and_console_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
@ -2702,12 +2711,12 @@ int commander_thread_main(int argc, char *argv[])
arm_tune_played = true;
} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
battery_warning == vehicle_battery_warning::CRITICAL) {
/* play tune on battery critical */
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe)) {
(battery_warning == vehicle_battery_warning::LOW || status.failsafe)) {
/* play tune on battery warning or failsafe */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
@ -2853,9 +2862,9 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
/* set color */
if (status_local->failsafe) {
rgbled_set_color(RGBLED_COLOR_PURPLE);
} else if (status_local->battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW) {
} else if (battery_warning == vehicle_battery_warning::LOW) {
rgbled_set_color(RGBLED_COLOR_AMBER);
} else if (status_local->battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
} else if (battery_warning == vehicle_battery_warning::CRITICAL) {
rgbled_set_color(RGBLED_COLOR_RED);
} else {
if (status_local->condition_home_position_valid && status_local->condition_global_position_valid) {