From e1ffc2cdaa670494510827f65f508c4bdb22b57a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 16 May 2024 15:51:04 +0200
Subject: [PATCH] commander: add check for 5V overcurrent

---
 .../checks/powerCheck.cpp                     | 30 +++++++++++++++++++
 .../checks/powerCheck.hpp                     |  1 +
 2 files changed, 31 insertions(+)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
index 8b40191c4212..0b23a949aef6 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
@@ -142,6 +142,36 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
 							     power_module_count, _param_com_power_count.get());
 				}
 			}
+
+			// Overcurrent detection
+			if (system_power.hipower_5v_oc) {
+				/* EVENT
+				 * @description
+				 * Check the power supply
+				 */
+				reporter.healthFailure(NavModes::All, health_component_t::system,
+						       events::ID("check_power_oc_hipower"),
+						       events::Log::Error, "Overcurrent detected for the hipower 5V supply");
+			}
+
+			if (system_power.periph_5v_oc) {
+				/* EVENT
+				 * @description
+				 * Check the power supply
+				 */
+				reporter.healthFailure(NavModes::All, health_component_t::system,
+						       events::ID("check_power_oc_periph"),
+						       events::Log::Error, "Overcurrent detected for the peripheral 5V supply");
+			}
+
+			if (system_power.hipower_5v_oc || system_power.periph_5v_oc) {
+				if (context.isArmed() && !_overcurrent_warning_sent) {
+					_overcurrent_warning_sent = true;
+					events::send(events::ID("check_power_oc_report"),
+						     events::Log::Error,
+						     "5V overcurrent detected, landing advised");
+				}
+			}
 		}
 
 	} else {
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp
index 72ed92839101..b81fadaee062 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp
@@ -48,6 +48,7 @@ class PowerChecks : public HealthAndArmingCheckBase
 
 private:
 	uORB::Subscription _system_power_sub{ORB_ID(system_power)};
+	bool _overcurrent_warning_sent{false};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
 					(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,