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batteryCheck: separate event messages for low, critical and emergency battery states

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This commit is contained in:
Matthias Grob
2024-12-17 15:05:42 +01:00
committed by Silvan Fuhrer
parent 41c4933e10
commit 7e47605871
1 changed files with 55 additions and 12 deletions
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src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
+55 -12
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@@ -206,19 +206,62 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
|| (configured_arm_threshold_in_use && below_configured_arm_threshold) ? NavModes::All : NavModes::None;
events::LogLevel log_level = critical_or_higher || below_configured_arm_threshold
? events::Log::Critical : events::Log::Warning;
/* EVENT
* @description
* The battery state of charge of the worst battery is below the threshold.
*
* <profile name="dev">
* This check can be configured via <param>BAT_LOW_THR</param>, <param>BAT_CRIT_THR</param>, <param>BAT_EMERGEN_THR</param> and <param>COM_ARM_BAT_MIN</param> parameters.
* </profile>
*/
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(), "Low battery level\t");
switch (reporter.failsafeFlags().battery_warning) {
default:
case battery_status_s::BATTERY_WARNING_LOW:
/* EVENT
* @description
* The lowest battery state of charge is below the low threshold.
*
* <profile name="dev">
* Can be configured with <param>BAT_LOW_THR</param>.
* </profile>
*/
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(), "Low battery\t");
}
break;
case battery_status_s::BATTERY_WARNING_CRITICAL:
/* EVENT
* @description
* The lowest battery state of charge is below the critical threshold.
*
* <profile name="dev">
* Can be configured with <param>BAT_CRIT_THR</param> and from when to disalow arming with <param>COM_ARM_BAT_MIN</param>.
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_critical"),
log_level, "Critical battery");
if (reporter.mavlink_log_pub()) {
mavlink_log_emergency(reporter.mavlink_log_pub(), "Critical battery\t");
}
break;
case battery_status_s::BATTERY_WARNING_EMERGENCY:
/* EVENT
* @description
* The lowest battery state of charge is below the emergency threshold.
*
* <profile name="dev">
* Can be configured with <param>BAT_EMERGEN_THR</param>.
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_emergency"),
log_level, "Emergency battery level");
if (reporter.mavlink_log_pub()) {
mavlink_log_emergency(reporter.mavlink_log_pub(), "Emergency battery level\t");
}
break;
}
}