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selfcheck.py: add battery voltage checks

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This commit is contained in:
Oleg Kalachev
2019-08-29 23:59:05 +03:00
parent f9b1a82b5e
commit 67392a8f1e
1 changed files with 11 additions and 1 deletions
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12
clever/src/selfcheck.py
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@@ -20,7 +20,7 @@ import tf2_ros
import tf2_geometry_msgs
from pymavlink import mavutil
from std_srvs.srv import Trigger
from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu, Range
from sensor_msgs.msg import BatteryState, Image, CameraInfo, NavSatFix, Imu, Range
from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
from mavros_msgs.srv import ParamGet
from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
@@ -239,6 +239,16 @@ def check_fcu():
if cbrk_usb_chk != 197848:
failure('Set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
try:
battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
cell = battery.cell_voltage[0]
if cell > 4.3 or cell < 3.0:
failure('Incorrect cell voltage: %.2f V, see https://clever.copterexpress.com/power.html', cell)
elif cell < 3.7:
failure('Critically low cell voltage: %.2f V, recharge battery', cell)
except rospy.ROSException:
failure('no battery state')
except rospy.ROSException:
failure('no MAVROS state (check wiring)')