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Commander: complete thread cycle before emergency shutdown #9563

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merged 2 commits into from
Jun 2, 2018
Merged

Commander: complete thread cycle before emergency shutdown #9563

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312462b
commander: moved emergency shutdown to end of cycle
potaito May 30, 2018
e4c110e
addressing review comments from #9563
potaito May 30, 2018
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30 changes: 19 additions & 11 deletions src/modules/commander/commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1308,6 +1308,7 @@ Commander::run()
bool low_battery_voltage_actions_done = false;
bool critical_battery_voltage_actions_done = false;
bool emergency_battery_voltage_actions_done = false;
bool dangerous_battery_level_requests_poweroff = false;

bool status_changed = true;
bool param_init_forced = true;
Expand Down Expand Up @@ -1967,17 +1968,9 @@ Commander::run()
emergency_battery_voltage_actions_done = true;

if (!armed.armed) {
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
usleep(200000);
int ret_val = px4_shutdown_request(false, false);

if (ret_val) {
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");

} else {
while (1) { usleep(1); }
}

// Request shutdown at the end of the cycle. This allows
// the vehicle state to be published after emergency landing
dangerous_battery_level_requests_poweroff = true;
} else {
if (low_bat_action == 2 || low_bat_action == 3) {
if (TRANSITION_CHANGED == main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, &internal_state)) {
Expand Down Expand Up @@ -2747,6 +2740,21 @@ Commander::run()

arm_auth_update(now, params_updated || param_init_forced);

// Handle shutdown request from emergency battery action
if(!armed.armed && dangerous_battery_level_requests_poweroff){
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
usleep(200000);
int ret_val = px4_shutdown_request(false, false);

if (ret_val) {
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
dangerous_battery_level_requests_poweroff = false;

} else {
while (1) { usleep(1); }
}
}

usleep(COMMANDER_MONITORING_INTERVAL);
}

Expand Down