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failsafe: unhealthy battery during spoolup leads to disarm

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battery failures can occur upon arming when the load gets sgnificant.
In that case the safest thing to do is prevent a takeoff before anything
worse happens.
This commit is contained in:
Matthias Grob
2024-07-17 16:55:36 +02:00
committed by Silvan Fuhrer
parent 0d00543292
commit e06629bfe5
1 changed files with 3 additions and 3 deletions
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src/modules/commander/failsafe/failsafe.cpp
+3 -3
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@@ -475,7 +475,6 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
CHECK_FAILSAFE(status_flags, geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred());
// Battery flight time remaining failsafe
CHECK_FAILSAFE(status_flags, battery_low_remaining_time,
ActionOptions(fromRemainingFlightTimeLowActParam(_param_com_fltt_low_act.get())));
@@ -512,18 +511,19 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
}
// Failure detector
// Handle fails during spoolup just after arming
if ((_armed_time != 0)
&& (time_us < _armed_time + static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s))
) {
CHECK_FAILSAFE(status_flags, fd_esc_arming_failure, ActionOptions(Action::Disarm).cannotBeDeferred());
CHECK_FAILSAFE(status_flags, battery_unhealthy, ActionOptions(Action::Disarm).cannotBeDeferred());
}
// Handle fails during the early takeoff phase
if ((_armed_time != 0)
&& (time_us < _armed_time
+ static_cast<hrt_abstime>((_param_com_lkdown_tko.get() + _param_com_spoolup_time.get()) * 1_s))
) {
// This handles the case where something fails during the early takeoff phase
CHECK_FAILSAFE(status_flags, fd_critical_failure, ActionOptions(Action::Disarm).cannotBeDeferred());
} else if (!circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(), CBRK_FLIGHTTERM_KEY)) {