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Critical voltage now leads to a proper arming state transition

This commit is contained in:
Julian Oes 2013-08-16 09:27:05 +02:00
parent d75c3c4e73
commit ec9de4ad84
2 changed files with 9 additions and 3 deletions
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10
src/modules/commander/commander.cpp
View File

@ -812,8 +812,6 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
warnx("bat v: %2.2f", battery.voltage_v);
/* only consider battery voltage if system has been running 2s and battery voltage is not 0 */
if ((t - start_time) > 2000000 && battery.voltage_v > 0.001f) {
status.battery_voltage = battery.voltage_v;
@ -887,7 +885,13 @@ int commander_thread_main(int argc, char *argv[])
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
if (armed.armed) {
// XXX not sure what should happen when voltage is low in flight
//arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
} else {
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
}
status_changed = true;
}

2
src/modules/commander/state_machine_helper.cpp
View File

@ -168,6 +168,8 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
if (ret == TRANSITION_CHANGED) {
status->arming_state = new_arming_state;
arming_state_changed = true;
} else {
warnx("arming transition rejected");
}
}