Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 18:47:21 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

esc_calibration: simplify the logic and consider battery only connected if there's no message timeout and the connected flag is set

Browse Source
This commit is contained in:
Matthias Grob
2025-05-14 17:40:51 +02:00
parent 7018e1b74b
commit 84cb748080
1 changed files with 2 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/esc_calibration.cpp
+2 -8
View File
@@ -63,19 +63,13 @@ bool check_battery_disconnected(orb_advert_t *mavlink_log_pub)
const bool recent_battery_measurement = hrt_absolute_time() < (battery_status_sub.get().timestamp + 1_s); const bool recent_battery_measurement = hrt_absolute_time() < (battery_status_sub.get().timestamp + 1_s);
if (recent_battery_measurement) { if (recent_battery_measurement && battery_status_sub.get().connected) {
// We have to send this message for now because "battery unavailable" gets ignored by QGC
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again"); calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
return false; return false;
}
// Make sure battery is reported to be disconnected } else {
if (!recent_battery_measurement && !battery_status_sub.get().connected) {
return true; return true;
} }
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
return false;
} }
static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, float value, bool release_control) static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, float value, bool release_control)