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Commander: fix user messageing for low battery failsafe delay

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This commit is contained in:
Matthias Grob
2022-01-31 20:27:06 -05:00
committed by Daniel Agar
parent 52a9040c62
commit 1911ec0085
1 changed files with 10 additions and 2 deletions
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src/modules/commander/Commander.cpp
+10 -2
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@@ -3888,8 +3888,16 @@ void Commander::battery_status_check()
warn_user_about_battery(&_mavlink_log_pub, _battery_warning);
_battery_failsafe_timestamp = hrt_absolute_time();
if (get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get()) != commander_state_s::MAIN_STATE_MAX) {
uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get());
if (_param_com_bat_act_t.get() > 0.f
&& failsafe_action != commander_state_s::MAIN_STATE_MAX) {
mavlink_log_critical(&_mavlink_log_pub, "Executing %s in %d seconds",
main_state_str(failsafe_action), static_cast<uint16_t>(_param_com_bat_act_t.get()));
events::send<events::px4::enums::navigation_mode_t, uint16_t>(events::ID("commander_low_bat_action"), {events::Log::Critical, events::LogInternal::Warning},
"Executing {1} in {2} seconds",
navigation_mode(failsafe_action), static_cast<uint16_t>(_param_com_bat_act_t.get()));
main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state);
}
}