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px4-firmware
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Lov voltage warning should work again

This commit is contained in:
Julian Oes 2013-08-15 17:27:29 +02:00
parent 56575eb068
commit f51320d1af
1 changed files with 10 additions and 13 deletions
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23
src/modules/commander/commander.cpp
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@ -550,6 +550,7 @@ int commander_thread_main(int argc, char *argv[])
/* set battery warning flag */ /* set battery warning flag */
status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
status.condition_battery_voltage_valid = false;
// XXX for now just set sensors as initialized // XXX for now just set sensors as initialized
status.condition_system_sensors_initialized = true; status.condition_system_sensors_initialized = true;
@ -606,8 +607,8 @@ int commander_thread_main(int argc, char *argv[])
enum VEHICLE_BATTERY_WARNING battery_warning_previous = VEHICLE_BATTERY_WARNING_NONE; enum VEHICLE_BATTERY_WARNING battery_warning_previous = VEHICLE_BATTERY_WARNING_NONE;
bool armed_previous = false; bool armed_previous = false;
bool low_battery_voltage_actions_done; bool low_battery_voltage_actions_done = false;
bool critical_battery_voltage_actions_done; bool critical_battery_voltage_actions_done = false;
uint64_t last_idle_time = 0; uint64_t last_idle_time = 0;
@ -810,19 +811,15 @@ int commander_thread_main(int argc, char *argv[])
if (updated) { if (updated) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery); orb_copy(ORB_ID(battery_status), battery_sub, &battery);
status.battery_voltage = battery.voltage_v;
status.condition_battery_voltage_valid = true;
}
/* warnx("bat v: %2.2f", battery.voltage_v);
* Only update battery voltage estimate if system has
* been running for two and a half seconds.
*/
if (t - start_time > 2500000 && status.condition_battery_voltage_valid) {
status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage);
} else { /* only consider battery voltage if system has been running 2s and battery voltage is not 0 */
status.battery_voltage = 0.0f; if ((t - start_time) > 2000000 && battery.voltage_v > 0.001f) {
status.battery_voltage = battery.voltage_v;
status.condition_battery_voltage_valid = true;
status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage);
}
} }
/* update subsystem */ /* update subsystem */