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commander: use shutdown_if_allowed() to check for shutdown safety

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Signed-off-by: Andrei Korigodski <akorigod@gmail.com>
This commit is contained in:
Andrei Korigodski 2018-06-14 00:52:39 +03:00 committed by Julian Oes
parent 5133453822
commit 4d5f922e7a
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/Commander.cpp
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@ -3867,9 +3867,9 @@ void Commander::battery_status_check()
}
// Handle shutdown request from emergency battery action
if (!armed.armed && (battery.warning != _battery_warning)) {
if (battery.warning != _battery_warning) {
if (battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
if ((battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) && shutdown_if_allowed()) {
mavlink_log_critical(&mavlink_log_pub, "Dangerously low battery! Shutting system down");
px4_usleep(200000);