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HAL_PX4: only consider power to have changed when armed

this prevents false positives with multi-battery setups
mission-4.1.18
Andrew Tridgell 10 years ago
parent
commit
020d9ea78a
  1. 7
      libraries/AP_HAL_PX4/AnalogIn.cpp

7
libraries/AP_HAL_PX4/AnalogIn.cpp

@ -361,11 +361,8 @@ void PX4AnalogIn::_timer_tick(void)
if (system_power.hipower_5V_OC) flags |= MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT; if (system_power.hipower_5V_OC) flags |= MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT;
if (_power_flags != 0 && if (_power_flags != 0 &&
_power_flags != flags && _power_flags != flags &&
hal.scheduler->millis() > 5000) { hal.util->get_soft_armed()) {
// the power status has changed since boot, and more // the power status has changed while armed
// than 5s after power on. The 5 second threshold is
// for users who have multiple switches, and they
// don't switch both at the same time.
flags |= MAV_POWER_STATUS_CHANGED; flags |= MAV_POWER_STATUS_CHANGED;
} }
_power_flags = flags; _power_flags = flags;

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