From a1821c89e7d6c95fb665f4f2bf7adeb0df523c74 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 31 May 2013 11:31:27 +0900 Subject: [PATCH] Copter: pre-arm check for board voltage < 5.8V --- ArduCopter/config.h | 4 ++++ ArduCopter/motors.pde | 4 ++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 62aae16f7c..b09f53e35f 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -386,6 +386,10 @@ # define BOARD_VOLTAGE_MIN 4500 // min board voltage in milli volts for pre-arm checks #endif +#ifndef BOARD_VOLTAGE_MAX + # define BOARD_VOLTAGE_MAX 5800 // max board voltage in milli volts for pre-arm checks +#endif + // Battery failsafe #ifndef FS_BATTERY # define FS_BATTERY DISABLED diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde index 7c5dd673bf..0060ad1583 100644 --- a/ArduCopter/motors.pde +++ b/ArduCopter/motors.pde @@ -266,9 +266,9 @@ static void pre_arm_checks(bool display_failure) #if CONFIG_HAL_BOARD != HAL_BOARD_PX4 // check board voltage - if(board_voltage() < BOARD_VOLTAGE_MIN) { + if(board_voltage() < BOARD_VOLTAGE_MIN || board_voltage() > BOARD_VOLTAGE_MAX) { if (display_failure) { - gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Low Board Voltage")); + gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Board Voltage")); } return; }