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Commander: change battery failsafe to return action instead of executing

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This commit is contained in:
Matthias Grob
2022-01-14 15:48:23 +01:00
committed by Daniel Agar
parent 8eed43b515
commit 3af315f2c3
3 changed files with 20 additions and 18 deletions
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src/modules/commander/Commander.cpp
+8 -1
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@@ -3890,7 +3890,14 @@ void Commander::battery_status_check()
// execute battery failsafe if the state has gotten worse while we are armed
if (battery_warning_level_increased_while_armed) {
warn_user_about_battery(&_mavlink_log_pub, _battery_warning);
act_on_battery_failsafe(_internal_state, _battery_warning, (low_battery_action_t)_param_com_low_bat_act.get());
uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get());
if (failsafe_action != commander_state_s::MAIN_STATE_MAX) {
_internal_state.main_state = failsafe_action;
_internal_state.main_state_changes++;
_internal_state.timestamp = hrt_absolute_time();
}
}
// Handle shutdown request from emergency battery action