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AP_BattMoniter: don't allow equal low and critical FS thresholds #22631

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merged 1 commit into from Jan 16, 2023
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AP_BattMoniter: don't allow equal low and critical FS thresholds #22631

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8 changes: 4 additions & 4 deletions libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
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Expand Up @@ -171,10 +171,10 @@ bool AP_BattMonitor_Backend::arming_checks(char * buffer, size_t buflen) const
((_params._pack_capacity - _state.consumed_mah) < _params._arming_minimum_capacity);
bool fs_capacity_inversion = is_positive(_params._critical_capacity) &&
is_positive(_params._low_capacity) &&
(_params._low_capacity < _params._critical_capacity);
!(_params._low_capacity > _params._critical_capacity);
bool fs_voltage_inversion = is_positive(_params._critical_voltage) &&
is_positive(_params._low_voltage) &&
(_params._low_voltage < _params._critical_voltage);
!(_params._low_voltage > _params._critical_voltage);

bool result = update_check(buflen, buffer, !_state.healthy, "unhealthy");
result = result && update_check(buflen, buffer, below_arming_voltage, "below minimum arming voltage");
Expand All @@ -183,8 +183,8 @@ bool AP_BattMonitor_Backend::arming_checks(char * buffer, size_t buflen) const
result = result && update_check(buflen, buffer, low_capacity, "low capacity failsafe");
result = result && update_check(buflen, buffer, critical_voltage, "critical voltage failsafe");
result = result && update_check(buflen, buffer, critical_capacity, "critical capacity failsafe");
result = result && update_check(buflen, buffer, fs_capacity_inversion, "capacity failsafe critical > low");
result = result && update_check(buflen, buffer, fs_voltage_inversion, "voltage failsafe critical > low");
result = result && update_check(buflen, buffer, fs_capacity_inversion, "capacity failsafe critical >= low");
result = result && update_check(buflen, buffer, fs_voltage_inversion, "voltage failsafe critical >= low");

return result;
}
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