Changeset 164 in flair-src

Timestamp:

Mar 6, 2017, 10:12:13 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

batterie

Location:

trunk/lib

Files:

• FlairMeta/src/UavStateMachine.cpp (modified) (1 diff)
• FlairSensorActuator/src/BatteryMonitor.cpp (modified) (3 diffs)
• FlairSensorActuator/src/BatteryMonitor.h (modified) (3 diffs)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -460 +460 @@
   flagZTrajectoryFinished = false;
 
-  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()) {// && GetBatteryMonitor()->IsBatteryLow()==false)
+  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()  && uav->GetBatteryMonitor()->IsBatteryLow()==false) {
     //The uav always takes off in fail safe mode
+    flagBatteryLow=false;
     EnterFailSafeMode();
     joy->SetLedOFF(4);//DualShock3::led4

trunk/lib/FlairSensorActuator/src/BatteryMonitor.cpp

@@ -20 +20 @@
 #include <Label.h>
 #include <DoubleSpinBox.h>
+#include <SpinBox.h>
 
 using std::string;
@@ -31 +32 @@
     : GroupBox(position, name) {
   battery = new Label(this->NewRow(), "battery");
-  battery_thresh = new DoubleSpinBox(this->LastRowLastCol(), "threshold", " V",
-                                     0, 24, .1, 1);
+  battery_thresh = new DoubleSpinBox(this->LastRowLastCol(), "threshold", " V",0, 24, .1, 1);
+  thresholdTime = new SpinBox(this->LastRowLastCol(), "threshold time", " s",1, 3600, 1, 10);
+  isUnderThershold=false;
 }
 
@@ -39 +41 @@
 float BatteryMonitor::GetVoltage(void) const { return batteryvalue; }
 
-bool BatteryMonitor::IsBatteryLow(void) const {
-  if (batteryvalue < battery_thresh->Value())
+bool BatteryMonitor::IsBatteryLow(void) {
+  if (batteryvalue <= battery_thresh->Value() && !isUnderThershold) {
+    isUnderThershold=true;
+    underThersholdStartTime=GetTime();
+  }
+  if (batteryvalue > battery_thresh->Value()) {
+    isUnderThershold=false;
+  }
+  if(isUnderThershold && GetTime() > underThersholdStartTime + (Time)(thresholdTime->Value())*(Time)1000000000) {
     return true;
-  else
-    return false;
+  }
+   
+  return false;
 }
 

trunk/lib/FlairSensorActuator/src/BatteryMonitor.h

@@ -21 +21 @@
 class Label;
 class DoubleSpinBox;
+class SpinBox;
 }
 }
@@ -56 +57 @@
   *
   */
-  bool IsBatteryLow(void) const;
+  bool IsBatteryLow(void);
 
   /*!
@@ -77 +78 @@
   float batteryvalue;
   gui::DoubleSpinBox *battery_thresh;
+  gui::SpinBox *thresholdTime;
   gui::Label *battery;
+  core::Time underThersholdStartTime;
+  bool isUnderThershold;
 };
 } // end namespace sensor