Hi Everyone!
I'd like to share the following potential issue and would like to discuss:
Observation:
If calculated consumed capacity is beyond available capacity parameter, low_battery_event function is called.
This function set mode to RTL.
Because this check is triggered frequently you can't overrule it anymore!
So if you switch to manual in order to land you'll brought back to RTL.
You would have to land in a RTL-circle just by "nudging"-intervnetions - quite nasty maneuver!
Precond.:
CompilerSwitch @ config.h
- BATTERY_EVENT: ENABLED (isn't per default!)
MAV-Parameter
- BATT_CAPACITY: is setup to a "reachable" level
- BATT_MONITOR: 4
Impact:
Battary Monitoring is per default not enabled!
..But since APM 2.5 supports kind of "native" current sensing it would become more popular, I guess!?
Might cause trouble easy - the more you're try to avoid (using small values for avbl. Cap.), the more likly you'll run into it.
Comments:
I've tried it actually only on workbench-condition.
(APM 2.0 Board; Bases on a mod. V2.40 Software...
well, you see.. I'm not one of these "avantgarde" people - how update firmware's master version every half year ;o) ..maybe I should thing about starting a blog about procrastination? - or,... Well! lets postpone it for now :o)
Just comment-out this setmode would be a propper workaround..
But a more sophisticated state transition handling would be needed - like Failsafes_short..-events gets processed.
Does somebody share my point of view about it? Looking forward to get feedback!
cheers,
Martin
Replies
I posted a bug report on GIT and looks like Tridge took care of it.
https://github.com/diydrones/ardupilot/issues/292
No, I don't think that should happen because in the low_battery_event it checks if ap.low_battery is false before doing anything. So if it's true (which means a low battery event has previously been triggered) then it won't do anything. Switching out of RTL doesn't not clear the low battery event..in fact, no where in the code do we set the low_battery flag back to false..so once it's triggered, it's triggered until the APM is rebooted.