forked from Archive/PX4-Autopilot
commander: move battery handling into arming checks
This commit is contained in:
Beat Küng
Daniel Agar
parent
5cb44a521c
commit
cfe3d793bf
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@ -118,5 +118,4 @@ bool parachute_system_healthy
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bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
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bool avoidance_system_valid # Status of the obstacle avoidance system
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bool battery_healthy # set if battery is available and not low
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@ -42,3 +42,8 @@ bool rc_signal_found_once
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bool rc_calibration_in_progress
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bool vtol_transition_failure # Set to true if vtol transition failed
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bool battery_low_remaining_time
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bool battery_unhealthy
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uint8 battery_warning
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@ -532,54 +532,6 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r
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return "";
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};
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using battery_fault_reason_t = events::px4::enums::battery_fault_reason_t;
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static_assert(battery_status_s::BATTERY_FAULT_COUNT == (static_cast<uint8_t>(battery_fault_reason_t::_max) + 1)
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, "Battery fault flags mismatch!");
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static constexpr const char *battery_fault_reason_str(battery_fault_reason_t battery_fault_reason)
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{
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switch (battery_fault_reason) {
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case battery_fault_reason_t::deep_discharge: return "under voltage";
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case battery_fault_reason_t::voltage_spikes: return "over voltage";
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case battery_fault_reason_t::cell_fail: return "cell fault";
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case battery_fault_reason_t::over_current: return "over current";
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case battery_fault_reason_t::fault_temperature: return "critical temperature";
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case battery_fault_reason_t::under_temperature: return "under temperature";
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case battery_fault_reason_t::incompatible_voltage: return "voltage mismatch";
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case battery_fault_reason_t::incompatible_firmware: return "incompatible firmware";
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case battery_fault_reason_t::incompatible_model: return "incompatible model";
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case battery_fault_reason_t::hardware_fault: return "hardware fault";
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case battery_fault_reason_t::over_temperature: return "near temperature limit";
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}
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return "";
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};
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using battery_mode_t = events::px4::enums::battery_mode_t;
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static_assert(battery_status_s::BATTERY_MODE_COUNT == (static_cast<uint8_t>(battery_mode_t::_max) + 1)
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, "Battery mode flags mismatch!");
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static constexpr const char *battery_mode_str(battery_mode_t battery_mode)
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{
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switch (battery_mode) {
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case battery_mode_t::autodischarging: return "auto discharging";
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case battery_mode_t::hotswap: return "hot-swap";
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default: return "unknown";
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}
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}
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using esc_fault_reason_t = events::px4::enums::esc_fault_reason_t;
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static_assert(esc_report_s::ESC_FAILURE_COUNT == (static_cast<uint8_t>(esc_fault_reason_t::_max) + 1)
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, "ESC fault flags mismatch!");
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@ -2421,9 +2373,7 @@ Commander::run()
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_geofence_warning_action_on = false;
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}
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if (_battery_status_subs.updated()) {
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battery_status_check();
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}
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battery_status_check();
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/* If in INIT state, try to proceed to STANDBY state */
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if (!_vehicle_status_flags.calibration_enabled && _arm_state_machine.isInit()) {
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@ -3691,112 +3641,11 @@ void Commander::data_link_check()
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void Commander::battery_status_check()
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{
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size_t battery_required_count = 0;
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bool battery_has_fault = false;
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// There are possibly multiple batteries, and we can't know which ones serve which purpose. So the safest
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// option is to check if ANY of them have a warning, and specifically find which one has the most
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// urgent warning.
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uint8_t worst_warning = battery_status_s::BATTERY_WARNING_NONE;
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// To make sure that all connected batteries are being regularly reported, we check which one has the
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// oldest timestamp.
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hrt_abstime oldest_update = hrt_absolute_time();
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float worst_battery_time_s{NAN};
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for (auto &battery_sub : _battery_status_subs) {
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int index = battery_sub.get_instance();
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battery_status_s battery;
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if (!battery_sub.copy(&battery)) {
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continue;
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}
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if (battery.is_required) {
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battery_required_count++;
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}
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if (_arm_state_machine.isArmed()) {
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if (_last_connected_batteries[index] && !battery.connected) {
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mavlink_log_critical(&_mavlink_log_pub, "Battery %d disconnected. Land now! \t", index + 1);
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events::send<uint8_t>(events::ID("commander_battery_disconnected"), {events::Log::Emergency, events::LogInternal::Warning},
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"Battery {1} disconnected. Land now!", index + 1);
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// trigger a battery failsafe action if a battery disconnects in flight
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worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
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}
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if ((battery.mode > 0) && (battery.mode != _last_battery_mode[index])) {
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mavlink_log_critical(&_mavlink_log_pub, "Battery %d is in %s mode! \t", index + 1,
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battery_mode_str(static_cast<battery_mode_t>(battery.mode)));
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events::send<uint8_t, events::px4::enums::battery_mode_t>(events::ID("commander_battery_mode"), {events::Log::Critical, events::LogInternal::Warning},
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"Battery {1} mode: {2}. Land now!", index + 1, static_cast<battery_mode_t>(battery.mode));
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}
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}
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_last_connected_batteries.set(index, battery.connected);
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_last_battery_mode[index] = battery.mode;
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if (battery.connected) {
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if (battery.warning > worst_warning) {
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worst_warning = battery.warning;
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}
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if (battery.timestamp < oldest_update) {
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oldest_update = battery.timestamp;
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}
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if (battery.faults > 0) {
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// MAVLink supported faults, can be checked on the ground station
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battery_has_fault = true;
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if (battery.faults != _last_battery_fault[index] || battery.custom_faults != _last_battery_custom_fault[index]) {
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for (uint8_t fault_index = 0; fault_index <= static_cast<uint8_t>(battery_fault_reason_t::_max);
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fault_index++) {
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if (battery.faults & (1 << fault_index)) {
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mavlink_log_emergency(&_mavlink_log_pub, "Battery %d: %s. %s \t", index + 1,
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battery_fault_reason_str(static_cast<battery_fault_reason_t>(fault_index)),
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_arm_state_machine.isArmed() ? "Land now!" : "");
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events::px4::enums::suggested_action_t action = _arm_state_machine.isArmed() ?
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events::px4::enums::suggested_action_t::land :
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events::px4::enums::suggested_action_t::none;
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/* EVENT
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* @description
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* The battery reported a failure which might be dangerous to fly.
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* Manufacturer error code: {4}
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*/
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events::send<uint8_t, battery_fault_reason_t, events::px4::enums::suggested_action_t, uint32_t>
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(events::ID("commander_battery_fault"), {events::Log::Emergency, events::LogInternal::Warning},
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"Battery {1}: {2}. {3}", index + 1, static_cast<battery_fault_reason_t>(fault_index), action, battery.custom_faults);
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}
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}
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}
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}
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_last_battery_fault[index] = battery.faults;
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_last_battery_custom_fault[index] = battery.custom_faults;
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if (PX4_ISFINITE(battery.time_remaining_s)
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&& (!PX4_ISFINITE(worst_battery_time_s)
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|| (PX4_ISFINITE(worst_battery_time_s) && (battery.time_remaining_s < worst_battery_time_s)))) {
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worst_battery_time_s = battery.time_remaining_s;
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}
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}
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}
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rtl_time_estimate_s rtl_time_estimate{};
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// Compare estimate of RTL time to estimate of remaining flight time
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if (_rtl_time_estimate_sub.copy(&rtl_time_estimate)
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&& (hrt_absolute_time() - rtl_time_estimate.timestamp) < 2_s
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&& rtl_time_estimate.valid
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if (_vehicle_status_flags.battery_low_remaining_time
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&& _arm_state_machine.isArmed()
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&& !_vehicle_land_detected.ground_contact // not in any landing stage
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&& !_rtl_time_actions_done
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&& PX4_ISFINITE(worst_battery_time_s)
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&& rtl_time_estimate.safe_time_estimate >= worst_battery_time_s
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&& _commander_state.main_state != commander_state_s::MAIN_STATE_AUTO_RTL
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&& _commander_state.main_state != commander_state_s::MAIN_STATE_AUTO_LAND) {
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// Try to trigger RTL
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@ -3819,31 +3668,21 @@ void Commander::battery_status_check()
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bool update_internal_battery_state = false;
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if (_arm_state_machine.isArmed()) {
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if (worst_warning > _battery_warning) {
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if (_vehicle_status_flags.battery_warning > _battery_warning) {
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battery_warning_level_increased_while_armed = true;
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update_internal_battery_state = true;
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}
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} else {
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if (_battery_warning != worst_warning) {
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if (_battery_warning != _vehicle_status_flags.battery_warning) {
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update_internal_battery_state = true;
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}
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}
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if (update_internal_battery_state) {
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_battery_warning = worst_warning;
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_battery_warning = _vehicle_status_flags.battery_warning;
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}
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_vehicle_status.battery_healthy =
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// All connected batteries are regularly being published
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(hrt_elapsed_time(&oldest_update) < 5_s)
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// There is at least one connected battery (in any slot)
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&& (_last_connected_batteries.count() >= battery_required_count)
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// No currently-connected batteries have any warning
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&& (_battery_warning == battery_status_s::BATTERY_WARNING_NONE)
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// No currently-connected batteries have any fault
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&& (!battery_has_fault);
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// execute battery failsafe if the state has gotten worse while we are armed
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if (battery_warning_level_increased_while_armed) {
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uint8_t failsafe_action = get_battery_failsafe_action(_commander_state, _battery_warning,
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@ -41,7 +41,6 @@
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#include "worker_thread.hpp"
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#include "HealthAndArmingChecks/HealthAndArmingChecks.hpp"
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#include <containers/Bitset.hpp>
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#include <lib/controllib/blocks.hpp>
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#include <lib/hysteresis/hysteresis.h>
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#include <lib/mathlib/mathlib.h>
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@ -341,12 +340,6 @@ private:
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uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
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hrt_abstime _battery_failsafe_timestamp{0};
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px4::Bitset<battery_status_s::MAX_INSTANCES> _last_connected_batteries;
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uint32_t _last_battery_custom_fault[battery_status_s::MAX_INSTANCES] {};
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uint16_t _last_battery_fault[battery_status_s::MAX_INSTANCES] {};
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uint8_t _last_battery_mode[battery_status_s::MAX_INSTANCES] {};
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Hysteresis _auto_disarm_landed{false};
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Hysteresis _auto_disarm_killed{false};
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Hysteresis _offboard_available{false};
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@ -405,7 +398,6 @@ private:
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uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
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uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)};
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uORB::Subscription _system_power_sub{ORB_ID(system_power)};
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uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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@ -416,7 +408,6 @@ private:
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
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uORB::SubscriptionMultiArray<telemetry_status_s> _telemetry_status_subs{ORB_ID::telemetry_status};
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#if defined(BOARD_HAS_POWER_CONTROL)
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@ -33,14 +33,202 @@
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#include "batteryCheck.hpp"
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#include <px4_platform_common/events.h>
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using namespace time_literals;
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using battery_fault_reason_t = events::px4::enums::battery_fault_reason_t;
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static_assert(battery_status_s::BATTERY_FAULT_COUNT == (static_cast<uint8_t>(battery_fault_reason_t::_max) + 1)
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, "Battery fault flags mismatch!");
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static constexpr const char *battery_fault_reason_str(battery_fault_reason_t battery_fault_reason)
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{
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switch (battery_fault_reason) {
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case battery_fault_reason_t::deep_discharge: return "under voltage";
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case battery_fault_reason_t::voltage_spikes: return "over voltage";
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case battery_fault_reason_t::cell_fail: return "cell fault";
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case battery_fault_reason_t::over_current: return "over current";
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case battery_fault_reason_t::fault_temperature: return "critical temperature";
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case battery_fault_reason_t::under_temperature: return "under temperature";
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case battery_fault_reason_t::incompatible_voltage: return "voltage mismatch";
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case battery_fault_reason_t::incompatible_firmware: return "incompatible firmware";
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case battery_fault_reason_t::incompatible_model: return "incompatible model";
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case battery_fault_reason_t::hardware_fault: return "hardware fault";
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case battery_fault_reason_t::over_temperature: return "near temperature limit";
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}
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return "";
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};
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using battery_mode_t = events::px4::enums::battery_mode_t;
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static_assert(battery_status_s::BATTERY_MODE_COUNT == (static_cast<uint8_t>(battery_mode_t::_max) + 1)
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, "Battery mode flags mismatch!");
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static constexpr const char *battery_mode_str(battery_mode_t battery_mode)
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{
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switch (battery_mode) {
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case battery_mode_t::autodischarging: return "auto discharging";
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case battery_mode_t::hotswap: return "hot-swap";
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default: return "unknown";
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}
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}
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void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
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{
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if (!context.status().battery_healthy) {
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int battery_required_count = 0;
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bool battery_has_fault = false;
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// There are possibly multiple batteries, and we can't know which ones serve which purpose. So the safest
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// option is to check if ANY of them have a warning, and specifically find which one has the most
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// urgent warning.
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uint8_t worst_warning = battery_status_s::BATTERY_WARNING_NONE;
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// To make sure that all connected batteries are being regularly reported, we check which one has the
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// oldest timestamp.
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hrt_abstime oldest_update = hrt_absolute_time();
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float worst_battery_time_s{NAN};
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int num_connected_batteries{0};
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for (auto &battery_sub : _battery_status_subs) {
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int index = battery_sub.get_instance();
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battery_status_s battery;
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if (!battery_sub.copy(&battery)) {
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continue;
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}
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if (battery.is_required) {
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battery_required_count++;
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}
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if (context.isArmed()) {
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if (!battery.connected) {
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/* EVENT
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*/
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reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"),
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events::Log::Emergency, "Battery {1} disconnected", index + 1);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i disconnected\t", index + 1);
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}
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// trigger a battery failsafe action if a battery disconnects in flight
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worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
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}
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if (battery.mode != 0) {
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/* EVENT
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*/
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reporter.healthFailure<uint8_t, events::px4::enums::battery_mode_t>(NavModes::All, health_component_t::battery,
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events::ID("check_battery_mode"),
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events::Log::Critical, "Battery {1} mode: {2}", index + 1, static_cast<battery_mode_t>(battery.mode));
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %d is in %s mode!\t", index + 1,
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battery_mode_str(static_cast<battery_mode_t>(battery.mode)));
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}
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}
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}
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if (battery.connected) {
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++num_connected_batteries;
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if (battery.warning > worst_warning) {
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worst_warning = battery.warning;
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}
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if (battery.timestamp < oldest_update) {
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oldest_update = battery.timestamp;
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}
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if (battery.faults > 0) {
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battery_has_fault = true;
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for (uint8_t fault_index = 0; fault_index <= static_cast<uint8_t>(battery_fault_reason_t::_max); fault_index++) {
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if (battery.faults & (1 << fault_index)) {
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events::px4::enums::suggested_action_t action = context.isArmed() ?
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events::px4::enums::suggested_action_t::land :
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events::px4::enums::suggested_action_t::none;
|
||||
|
||||
/* EVENT
|
||||
* @description
|
||||
* The battery reported a failure which might be dangerous to fly with.
|
||||
* Manufacturer error code: {4}
|
||||
*/
|
||||
reporter.healthFailure<uint8_t, battery_fault_reason_t, events::px4::enums::suggested_action_t, uint32_t>
|
||||
(NavModes::All, health_component_t::battery, events::ID("check_battery_fault"), {events::Log::Emergency, events::LogInternal::Warning},
|
||||
"Battery {1}: {2}. {3}", index + 1, static_cast<battery_fault_reason_t>(fault_index), action, battery.custom_faults);
|
||||
|
||||
if (reporter.mavlink_log_pub()) {
|
||||
mavlink_log_emergency(reporter.mavlink_log_pub(), "Battery %d: %s. %s \t", index + 1,
|
||||
battery_fault_reason_str(
|
||||
static_cast<battery_fault_reason_t>(fault_index)),
|
||||
context.isArmed() ? "Land now!" : "");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (PX4_ISFINITE(battery.time_remaining_s)
|
||||
&& (!PX4_ISFINITE(worst_battery_time_s)
|
||||
|| (PX4_ISFINITE(worst_battery_time_s) && (battery.time_remaining_s < worst_battery_time_s)))) {
|
||||
worst_battery_time_s = battery.time_remaining_s;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (context.isArmed()) {
|
||||
if (worst_warning > reporter.failsafeFlags().battery_warning) {
|
||||
reporter.failsafeFlags().battery_warning = worst_warning;
|
||||
}
|
||||
|
||||
} else {
|
||||
reporter.failsafeFlags().battery_warning = worst_warning;
|
||||
}
|
||||
|
||||
if (reporter.failsafeFlags().battery_warning > battery_status_s::BATTERY_WARNING_NONE) {
|
||||
bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL;
|
||||
NavModes affected_modes = critical_or_higher ? NavModes::All : NavModes::None;
|
||||
events::LogLevel log_level = critical_or_higher ? events::Log::Critical : events::Log::Warning;
|
||||
/* EVENT
|
||||
*/
|
||||
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"), log_level,
|
||||
"Low battery");
|
||||
|
||||
if (reporter.mavlink_log_pub()) {
|
||||
mavlink_log_emergency(reporter.mavlink_log_pub(), "Preflight Fail: low battery\t");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
rtlEstimateCheck(context, reporter, worst_battery_time_s);
|
||||
|
||||
reporter.failsafeFlags().battery_unhealthy =
|
||||
// All connected batteries are regularly being published
|
||||
hrt_elapsed_time(&oldest_update) > 5_s
|
||||
// There is at least one connected battery (in any slot)
|
||||
|| num_connected_batteries < battery_required_count
|
||||
// No currently-connected batteries have any fault
|
||||
|| battery_has_fault;
|
||||
|
||||
if (reporter.failsafeFlags().battery_unhealthy && !battery_has_fault) { // faults are reported above already
|
||||
/* EVENT
|
||||
* @description
|
||||
* Make sure all batteries are connected.
|
||||
*/
|
||||
reporter.healthFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_unhealthy"),
|
||||
events::Log::Error, "Battery unhealthy");
|
||||
|
||||
|
|
@ -49,6 +237,29 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
|
|||
}
|
||||
}
|
||||
|
||||
reporter.setIsPresent(health_component_t::battery); // assume it's present
|
||||
if (num_connected_batteries > 0) {
|
||||
reporter.setIsPresent(health_component_t::battery);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void BatteryChecks::rtlEstimateCheck(const Context &context, Report &reporter, float worst_battery_time_s)
|
||||
{
|
||||
rtl_time_estimate_s rtl_time_estimate;
|
||||
|
||||
// Compare estimate of RTL time to estimate of remaining flight time
|
||||
reporter.failsafeFlags().battery_low_remaining_time = _rtl_time_estimate_sub.copy(&rtl_time_estimate)
|
||||
&& (hrt_absolute_time() - rtl_time_estimate.timestamp) < 2_s
|
||||
&& rtl_time_estimate.valid
|
||||
&& context.isArmed()
|
||||
&& PX4_ISFINITE(worst_battery_time_s)
|
||||
&& rtl_time_estimate.safe_time_estimate >= worst_battery_time_s;
|
||||
|
||||
if (reporter.failsafeFlags().battery_low_remaining_time) {
|
||||
/* EVENT
|
||||
*/
|
||||
reporter.armingCheckFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_rem_flight_time_low"),
|
||||
events::Log::Error, "Remaining flight time low");
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -36,6 +36,9 @@
|
|||
#include "../Common.hpp"
|
||||
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionMultiArray.hpp>
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/rtl_time_estimate.h>
|
||||
|
||||
class BatteryChecks : public HealthAndArmingCheckBase
|
||||
{
|
||||
|
|
@ -46,4 +49,9 @@ public:
|
|||
void checkAndReport(const Context &context, Report &reporter) override;
|
||||
|
||||
private:
|
||||
void rtlEstimateCheck(const Context &context, Report &reporter, float worst_battery_time_s);
|
||||
|
||||
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
|
||||
uORB::Subscription _rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)};
|
||||
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue