// read_battery - check battery voltage and current and invoke failsafe if necessary
// called at 10hz
void Sub::read_battery(void)
{
battery.read();
// update compass with current value
if (battery.has_current()) {
compass.set_current(battery.current_amps());
}
// update motors with voltage and current
if (battery.get_type() != AP_BattMonitor::BattMonitor_TYPE_NONE) {
motors.set_voltage(battery.voltage());
}
if (battery.has_current()) {
motors.set_current(battery.current_amps());
}
failsafe_battery_check();
// log battery info to the dataflash
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
}
// read_battery - check battery voltage and current and invoke failsafe if necessary
// called at 10hz
void Copter::read_battery(void)
{
battery.read();
// update compass with current value
if (battery.has_current()) {
compass.set_current(battery.current_amps());
}
// update motors with voltage and current
if (battery.get_type() != AP_BattMonitor::BattMonitor_TYPE_NONE) {
motors.set_voltage(battery.voltage());
}
if (battery.has_current()) {
motors.set_current(battery.current_amps());
}
// check for low voltage or current if the low voltage check hasn't already been triggered
// we only check when we're not powered by USB to avoid false alarms during bench tests
if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
failsafe_battery_event();
}
// log battery info to the dataflash
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
}
/*
once a second events
*/
void Rover::one_second_loop(void)
{
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// allow orientation change at runtime to aid config
ahrs.set_orientation();
set_control_channels();
// cope with changes to aux functions
update_aux();
// update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
// cope with changes to mavlink system ID
mavlink_system.sysid = g.sysid_this_mav;
static uint8_t counter;
counter++;
// write perf data every 20s
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf("G_Dt_max=%u\n", G_Dt_max);
}
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
G_Dt_max = 0;
resetPerfData();
}
// save compass offsets once a minute
if (counter >= 60) {
if (g.compass_enabled) {
compass.save_offsets();
}
counter = 0;
}
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
// update error mask of sensors and subsystems. The mask uses the
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not
// functioning correctly
update_sensor_status_flags();
}
// read_battery - reads battery voltage and current and invokes failsafe
// should be called at 10hz
void Plane::read_battery(void)
{
battery.read();
compass.set_current(battery.current_amps());
if (!usb_connected &&
hal.util->get_soft_armed() &&
battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
low_battery_event();
}
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
}
/*
once a second events
*/
void Rover::one_second_loop(void)
{
if (should_log(MASK_LOG_CURRENT))
Log_Write_Current();
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// allow orientation change at runtime to aid config
ahrs.set_orientation();
set_control_channels();
// cope with changes to aux functions
update_aux();
// update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
// cope with changes to mavlink system ID
mavlink_system.sysid = g.sysid_this_mav;
static uint8_t counter;
counter++;
// write perf data every 20s
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf("G_Dt_max=%lu\n", (unsigned long)G_Dt_max);
}
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
G_Dt_max = 0;
resetPerfData();
}
// save compass offsets once a minute
if (counter >= 60) {
if (g.compass_enabled) {
compass.save_offsets();
}
counter = 0;
}
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}
void Plane::one_second_loop()
{
if (should_log(MASK_LOG_CURRENT))
Log_Write_Current();
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// make it possible to change control channel ordering at runtime
set_control_channels();
// make it possible to change orientation at runtime
ahrs.set_orientation();
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;
update_aux();
// determine if we are flying or not
determine_is_flying();
// update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
#if AP_TERRAIN_AVAILABLE
if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data(DataFlash);
}
#endif
// piggyback the status log entry on the MODE log entry flag
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}
