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Fix displayed value in power check #25751

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Fix displayed value in power check #25751

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d8a70d3
Changed the healthFailure call in the PowerChecks to ensure that no v…
Phil-Engljaehringer Oct 10, 2025
b2dc87f
fix format
Phil-Engljaehringer Oct 13, 2025
81f1c35
made _latest_low_failure and _latest_low_failure member variables. On…
Phil-Engljaehringer Oct 14, 2025
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20 changes: 16 additions & 4 deletions src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,21 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
const float high_error_threshold = 5.4f;

const auto now = hrt_absolute_time();

bool old_state_low = _voltage_low_hysteresis.get_state();
bool old_state_high = _voltage_high_hysteresis.get_state();

_voltage_low_hysteresis.set_state_and_update(avionics_power_rail_voltage < low_error_threshold, now);
_voltage_high_hysteresis.set_state_and_update(avionics_power_rail_voltage > high_error_threshold, now);

if (_voltage_low_hysteresis.get_state() && !old_state_low) {
_latest_low_failure_val = avionics_power_rail_voltage;
}

if (_voltage_high_hysteresis.get_state() && !old_state_high) {
_latest_high_failure_val = avionics_power_rail_voltage;
}

if (_voltage_low_hysteresis.get_state()) {

/* EVENT
Expand All @@ -101,11 +113,11 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
*/
reporter.healthFailure<float, float>(NavModes::All, health_component_t::system,
events::ID("check_avionics_power_low"),
events::Log::Error, "Avionics Power low: {1:.2} Volt", avionics_power_rail_voltage, low_error_threshold);
events::Log::Error, "Avionics Power low: {1:.2} Volt", _latest_low_failure_val, low_error_threshold);

if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avionics Power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
(double)_latest_low_failure_val);
}

} else if (_voltage_high_hysteresis.get_state()) {
Expand All @@ -119,11 +131,11 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
*/
reporter.healthFailure<float, float>(NavModes::All, health_component_t::system,
events::ID("check_avionics_power_high"),
events::Log::Error, "Avionics Power high: {1:.2} Volt", avionics_power_rail_voltage, high_error_threshold);
events::Log::Error, "Avionics Power high: {1:.2} Volt", _latest_high_failure_val, high_error_threshold);

if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avionics Power high: %6.2f Volt",
(double)avionics_power_rail_voltage);
(double)_latest_high_failure_val);
}
}

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3 changes: 3 additions & 0 deletions src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp
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Expand Up @@ -57,4 +57,7 @@ class PowerChecks : public HealthAndArmingCheckBase
(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
(ParamInt<px4::params::COM_POWER_COUNT>) _param_com_power_count
)

float _latest_low_failure_val = 0.0f;
float _latest_high_failure_val = 0.0f;
};
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