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AP_BattMonitor: move analog parameters to subgroupvarptr

gps-1.3.1
Josh Henderson 4 years ago committed by Andrew Tridgell
parent
e37efa45de
commit
289264f1dd
10 changed files with 150 additions and 62 deletions
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  1. 74
      libraries/AP_BattMonitor/AP_BattMonitor.cpp
  2. 1
      libraries/AP_BattMonitor/AP_BattMonitor.h
  3. 57
      libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
  4. 17
      libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
  5. 6
      libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.cpp
  6. 4
      libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.h
  7. 4
      libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.cpp
  8. 4
      libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.h
  9. 40
      libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
  10. 5
      libraries/AP_BattMonitor/AP_BattMonitor_Params.h

74
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -33,43 +33,97 @@ AP_BattMonitor *AP_BattMonitor::_singleton; @@ -33,43 +33,97 @@ AP_BattMonitor *AP_BattMonitor::_singleton;
const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// 0 - 18, 20- 22 used by old parameter indexes
// Monitor 1
// @Group: _
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[0], "_", 23, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: _
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[0], "_", 41, AP_BattMonitor, backend_analog_var_info[0]),
// Monitor 2
// @Group: 2_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[1], "2_", 24, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 2_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[1], "2_", 42, AP_BattMonitor, backend_analog_var_info[1]),
// Monitor 3
// @Group: 3_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[2], "3_", 25, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 3_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[2], "3_", 43, AP_BattMonitor, backend_analog_var_info[2]),
// Monitor 4
// @Group: 4_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[3], "4_", 26, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 4_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[3], "4_", 44, AP_BattMonitor, backend_analog_var_info[3]),
// Monitor 5
// @Group: 5_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[4], "5_", 27, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 5_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[4], "5_", 45, AP_BattMonitor, backend_analog_var_info[4]),
// Monitor 6
// @Group: 6_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[5], "6_", 28, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 6_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[5], "6_", 46, AP_BattMonitor, backend_analog_var_info[5]),
// Monitor 7
// @Group: 7_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[6], "7_", 29, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 7_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[6], "7_", 47, AP_BattMonitor, backend_analog_var_info[6]),
// Monitor 8
// @Group: 8_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[7], "8_", 30, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 8_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[7], "8_", 48, AP_BattMonitor, backend_analog_var_info[7]),
// Monitor 9
// @Group: 9_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[8], "9_", 31, AP_BattMonitor, AP_BattMonitor_Params),
#if HAL_BATTMON_SMBUS_ENABLE
// @Group: 9_
// @Path: AP_BattMonitor_Analog.cpp
AP_SUBGROUPVARPTR(drivers[8], "9_", 49, AP_BattMonitor, backend_analog_var_info[8]),
#if HAL_BATTMON_SMBUS_ENABLE
// @Group: _
// @Path: AP_BattMonitor_SMBus.cpp
AP_SUBGROUPVARPTR(drivers[0], "_", 32, AP_BattMonitor, backend_smbus_var_info[0]),
@ -110,6 +164,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = { @@ -110,6 +164,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
AP_GROUPEND
};
const AP_Param::GroupInfo *AP_BattMonitor::backend_analog_var_info[AP_BATT_MONITOR_MAX_INSTANCES];
#if HAL_BATTMON_SMBUS_ENABLE
const AP_Param::GroupInfo *AP_BattMonitor::backend_smbus_var_info[AP_BATT_MONITOR_MAX_INSTANCES];
#endif
@ -228,19 +284,24 @@ AP_BattMonitor::init() @@ -228,19 +284,24 @@ AP_BattMonitor::init()
break;
}
#if HAL_BATTMON_SMBUS_ENABLE
// if the backend has some local parameters then make those available in the tree
if (drivers[instance] && state[instance].var_info) {
Type type = get_type(instance);
if ((type == Type::MAXELL) || (type == Type::NeoDesign) || (type == Type::Rotoye) || (type == Type::SMBus_Generic) ||
if((type == Type::ANALOG_VOLTAGE_AND_CURRENT) || (type == Type::ANALOG_VOLTAGE_ONLY) ||
(type == Type::FuelFlow) || (type == Type::FuelLevel_PWM)) {
backend_analog_var_info[instance] = state[instance].var_info;
AP_Param::load_object_from_eeprom(drivers[instance], backend_analog_var_info[instance]);
}
#if HAL_BATTMON_SMBUS_ENABLE
else if ((type == Type::MAXELL) || (type == Type::NeoDesign) || (type == Type::Rotoye) || (type == Type::SMBus_Generic) ||
(type == Type::SOLO) || (type == Type::SUI3) || (type == Type::SUI6)) {
backend_smbus_var_info[instance] = state[instance].var_info;
AP_Param::load_object_from_eeprom(drivers[instance], backend_smbus_var_info[instance]);
}
#endif
// param count could have changed
AP_Param::invalidate_count();
}
#endif
// call init function for each backend
if (drivers[instance] != nullptr) {
@ -295,6 +356,11 @@ void AP_BattMonitor::convert_dynamic_param_groups(uint8_t instance) @@ -295,6 +356,11 @@ void AP_BattMonitor::convert_dynamic_param_groups(uint8_t instance)
ap_var_type type;
const char* new_name;
} conversion_table[] = {
{ 2, AP_PARAM_INT8, "VOLT_PIN" },
{ 3, AP_PARAM_INT8, "CURR_PIN" },
{ 4, AP_PARAM_FLOAT, "VOLT_MULT" },
{ 5, AP_PARAM_FLOAT, "AMP_PERVLT"},
{ 6, AP_PARAM_FLOAT, "AMP_OFFSET"},
{ 20, AP_PARAM_INT8, "I2C_BUS" },
};

1
libraries/AP_BattMonitor/AP_BattMonitor.h
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@ -131,6 +131,7 @@ public: @@ -131,6 +131,7 @@ public:
const struct AP_Param::GroupInfo *var_info;
};
static const struct AP_Param::GroupInfo *backend_analog_var_info[AP_BATT_MONITOR_MAX_INSTANCES];
static const struct AP_Param::GroupInfo *backend_smbus_var_info[AP_BATT_MONITOR_MAX_INSTANCES];
// Return the number of battery monitor instances

57
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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@ -1,19 +1,62 @@ @@ -1,19 +1,62 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Analog.h"
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_BattMonitor_Analog::var_info[] = {
// @Param: VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Sets the analog input pin that should be used for voltage monitoring.
// @Values: -1:Disabled, 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 5:Navigator, 13:Pixhawk2_PM2/CubeOrange_PM2, 14:CubeOrange, 16:Durandal, 100:PX4-v1
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("VOLT_PIN", 1, AP_BattMonitor_Analog, _volt_pin, AP_BATT_VOLT_PIN),
// @Param: CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Sets the analog input pin that should be used for current monitoring.
// @Values: -1:Disabled, 3:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 4:CubeOrange_PM2/Navigator, 14:Pixhawk2_PM2, 15:CubeOrange, 17:Durandal, 101:PX4-v1
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("CURR_PIN", 2, AP_BattMonitor_Analog, _curr_pin, AP_BATT_CURR_PIN),
// @Param: VOLT_MULT
// @DisplayName: Voltage Multiplier
// @Description: Used to convert the voltage of the voltage sensing pin (@PREFIX@VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
// @User: Advanced
AP_GROUPINFO("VOLT_MULT", 3, AP_BattMonitor_Analog, _volt_multiplier, AP_BATT_VOLTDIVIDER_DEFAULT),
// @Param: AMP_PERVLT
// @DisplayName: Amps per volt
// @Description: Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
// @Units: A/V
// @User: Standard
AP_GROUPINFO("AMP_PERVLT", 4, AP_BattMonitor_Analog, _curr_amp_per_volt, AP_BATT_CURR_AMP_PERVOLT_DEFAULT),
// @Param: AMP_OFFSET
// @DisplayName: AMP offset
// @Description: Voltage offset at zero current on current sensor
// @Units: V
// @User: Standard
AP_GROUPINFO("AMP_OFFSET", 5, AP_BattMonitor_Analog, _curr_amp_offset, 0),
AP_GROUPEND
};
/// Constructor
AP_BattMonitor_Analog::AP_BattMonitor_Analog(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params) :
AP_BattMonitor_Backend(mon, mon_state, params)
{
_volt_pin_analog_source = hal.analogin->channel(_params._volt_pin);
_curr_pin_analog_source = hal.analogin->channel(_params._curr_pin);
AP_Param::setup_object_defaults(this, var_info);
_state.var_info = var_info;
_volt_pin_analog_source = hal.analogin->channel(_volt_pin);
_curr_pin_analog_source = hal.analogin->channel(_curr_pin);
// always healthy
_state.healthy = true;
@ -24,10 +67,10 @@ void @@ -24,10 +67,10 @@ void
AP_BattMonitor_Analog::read()
{
// this copes with changing the pin at runtime
_volt_pin_analog_source->set_pin(_params._volt_pin);
_volt_pin_analog_source->set_pin(_volt_pin);
// get voltage
_state.voltage = _volt_pin_analog_source->voltage_average() * _params._volt_multiplier;
_state.voltage = _volt_pin_analog_source->voltage_average() * _volt_multiplier;
// read current
if (has_current()) {
@ -36,10 +79,10 @@ AP_BattMonitor_Analog::read() @@ -36,10 +79,10 @@ AP_BattMonitor_Analog::read()
float dt = tnow - _state.last_time_micros;
// this copes with changing the pin at runtime
_curr_pin_analog_source->set_pin(_params._curr_pin);
_curr_pin_analog_source->set_pin(_curr_pin);
// read current
_state.current_amps = (_curr_pin_analog_source->voltage_average()-_params._curr_amp_offset)*_params._curr_amp_per_volt;
_state.current_amps = (_curr_pin_analog_source->voltage_average() - _curr_amp_offset) * _curr_amp_per_volt;
// update total current drawn since startup
if (_state.last_time_micros != 0 && dt < 2000000.0f) {

17
libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
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@ -83,18 +83,27 @@ public: @@ -83,18 +83,27 @@ public:
AP_BattMonitor_Analog(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params);
/// Read the battery voltage and current. Should be called at 10hz
void read() override;
virtual void read() override;
/// returns true if battery monitor provides consumed energy info
bool has_consumed_energy() const override { return has_current(); }
virtual bool has_consumed_energy() const override { return has_current(); }
/// returns true if battery monitor provides current info
bool has_current() const override;
virtual bool has_current() const override;
void init(void) override {}
virtual void init(void) override {}
static const struct AP_Param::GroupInfo var_info[];
protected:
AP_HAL::AnalogSource *_volt_pin_analog_source;
AP_HAL::AnalogSource *_curr_pin_analog_source;
// Parameters
AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Int8 _volt_pin; /// board pin used to measure battery voltage
AP_Int8 _curr_pin; /// board pin used to measure battery current
};

6
libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.cpp
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@ -23,7 +23,7 @@ extern const AP_HAL::HAL& hal; @@ -23,7 +23,7 @@ extern const AP_HAL::HAL& hal;
AP_BattMonitor_FuelFlow::AP_BattMonitor_FuelFlow(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params) :
AP_BattMonitor_Backend(mon, mon_state, params)
AP_BattMonitor_Analog(mon, mon_state, params)
{
_state.voltage = 1.0; // show a fixed voltage of 1v
@ -56,7 +56,7 @@ void AP_BattMonitor_FuelFlow::irq_handler(uint8_t pin, bool pin_state, uint32_t @@ -56,7 +56,7 @@ void AP_BattMonitor_FuelFlow::irq_handler(uint8_t pin, bool pin_state, uint32_t
*/
void AP_BattMonitor_FuelFlow::read()
{
int8_t pin = _params._curr_pin;
int8_t pin = _curr_pin;
if (last_pin != pin) {
// detach from last pin
if (last_pin != -1) {
@ -107,7 +107,7 @@ void AP_BattMonitor_FuelFlow::read() @@ -107,7 +107,7 @@ void AP_BattMonitor_FuelFlow::read()
litres = 0;
litres_pec_sec = 0;
} else {
litres = state.pulse_count * _params._curr_amp_per_volt * 0.001f;
litres = state.pulse_count * _curr_amp_per_volt * 0.001f;
litres_pec_sec = litres / irq_dt;
}

4
libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.h
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@ -1,9 +1,9 @@ @@ -1,9 +1,9 @@
#pragma once
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
#include "AP_BattMonitor_Analog.h"
class AP_BattMonitor_FuelFlow : public AP_BattMonitor_Backend
class AP_BattMonitor_FuelFlow : public AP_BattMonitor_Analog
{
public:

4
libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.cpp
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@ -15,7 +15,7 @@ extern const AP_HAL::HAL& hal; @@ -15,7 +15,7 @@ extern const AP_HAL::HAL& hal;
/// Constructor
AP_BattMonitor_FuelLevel_PWM::AP_BattMonitor_FuelLevel_PWM(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params) :
AP_BattMonitor_Backend(mon, mon_state, params)
AP_BattMonitor_Analog(mon, mon_state, params)
{
_state.voltage = 1.0; // show a fixed voltage of 1v
@ -28,7 +28,7 @@ AP_BattMonitor_FuelLevel_PWM::AP_BattMonitor_FuelLevel_PWM(AP_BattMonitor &mon, @@ -28,7 +28,7 @@ AP_BattMonitor_FuelLevel_PWM::AP_BattMonitor_FuelLevel_PWM(AP_BattMonitor &mon,
*/
void AP_BattMonitor_FuelLevel_PWM::read()
{
if (!pwm_source.set_pin(_params._curr_pin, "FuelLevelPWM")) {
if (!pwm_source.set_pin(_curr_pin, "FuelLevelPWM")) {
_state.healthy = false;
return;
}

4
libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.h
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@ -1,9 +1,9 @@ @@ -1,9 +1,9 @@
#pragma once
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
#include "AP_BattMonitor_Analog.h"
class AP_BattMonitor_FuelLevel_PWM : public AP_BattMonitor_Backend
class AP_BattMonitor_FuelLevel_PWM : public AP_BattMonitor_Analog
{
public:

40
libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
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@ -1,7 +1,7 @@ @@ -1,7 +1,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_BattMonitor_Params.h"
#include "AP_BattMonitor_Analog.h"
#include "AP_BattMonitor.h"
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
#define DEFAULT_LOW_BATTERY_VOLTAGE 10.5f
@ -17,42 +17,16 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = { @@ -17,42 +17,16 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("MONITOR", 1, AP_BattMonitor_Params, _type, int8_t(AP_BattMonitor::Type::NONE), AP_PARAM_FLAG_ENABLE),
// 2 was VOLT_PIN
// @Param: VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Sets the analog input pin that should be used for voltage monitoring.
// @Values: -1:Disabled, 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 5:Navigator, 13:Pixhawk2_PM2/CubeOrange_PM2, 14:CubeOrange, 16:Durandal, 100:PX4-v1
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("VOLT_PIN", 2, AP_BattMonitor_Params, _volt_pin, AP_BATT_VOLT_PIN),
// 3 was CURR_PIN
// @Param: CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Sets the analog input pin that should be used for current monitoring.
// @Values: -1:Disabled, 3:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 4:CubeOrange_PM2/Navigator, 14:Pixhawk2_PM2, 15:CubeOrange, 17:Durandal, 101:PX4-v1
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("CURR_PIN", 3, AP_BattMonitor_Params, _curr_pin, AP_BATT_CURR_PIN),
// 4 was VOLT_MULT
// @Param: VOLT_MULT
// @DisplayName: Voltage Multiplier
// @Description: Used to convert the voltage of the voltage sensing pin (@PREFIX@VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
// @User: Advanced
AP_GROUPINFO("VOLT_MULT", 4, AP_BattMonitor_Params, _volt_multiplier, AP_BATT_VOLTDIVIDER_DEFAULT),
// 5 was AMP_PERVLT
// @Param: AMP_PERVLT
// @DisplayName: Amps per volt
// @Description: Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
// @Units: A/V
// @User: Standard
AP_GROUPINFO("AMP_PERVLT", 5, AP_BattMonitor_Params, _curr_amp_per_volt, AP_BATT_CURR_AMP_PERVOLT_DEFAULT),
// @Param: AMP_OFFSET
// @DisplayName: AMP offset
// @Description: Voltage offset at zero current on current sensor
// @Units: V
// @User: Standard
AP_GROUPINFO("AMP_OFFSET", 6, AP_BattMonitor_Params, _curr_amp_offset, 0),
// 6 was AMP_OFFSET
// @Param: CAPACITY
// @DisplayName: Battery capacity

5
libraries/AP_BattMonitor/AP_BattMonitor_Params.h
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@ -23,9 +23,6 @@ public: @@ -23,9 +23,6 @@ public:
BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }
AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh
AP_Int32 _serial_number; /// battery serial number, automatically filled in on SMBus batteries
AP_Float _low_voltage; /// voltage level used to trigger a low battery failsafe
@ -37,8 +34,6 @@ public: @@ -37,8 +34,6 @@ public:
AP_Int32 _options; /// Options
AP_Int16 _watt_max; /// max battery power allowed. Reduce max throttle to reduce current to satisfy t his limit
AP_Int8 _type; /// 0=disabled, 3=voltage only, 4=voltage and current
AP_Int8 _volt_pin; /// board pin used to measure battery voltage
AP_Int8 _curr_pin; /// board pin used to measure battery current
AP_Int8 _low_voltage_timeout; /// timeout in seconds before a low voltage event will be triggered
AP_Int8 _failsafe_voltage_source; /// voltage type used for detection of low voltage event
AP_Int8 _failsafe_low_action; /// action to preform on a low battery failsafe

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