From 693af897b3b6a44aa9cb438843c6e6432dd33592 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 6 Sep 2022 12:00:38 +0200
Subject: [PATCH] commander: check if battery was already disconnected on
 arming

If so, don't report.
Happens e.g. with USB powered pixhawk.
---
 .../HealthAndArmingChecks/checks/batteryCheck.cpp          | 7 ++++++-
 .../HealthAndArmingChecks/checks/batteryCheck.hpp          | 2 ++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
index 2e9678fd21..6f617f2728 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
@@ -113,9 +113,13 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 			battery_required_count++;
 		}
 
+		if (!_last_armed && context.isArmed()) {
+			_battery_connected_at_arming[index] = battery.connected;
+		}
+
 		if (context.isArmed()) {
 
-			if (!battery.connected) {
+			if (!battery.connected && _battery_connected_at_arming[index]) { // If disconnected after arming
 				/* EVENT
 				 */
 				reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"),
@@ -243,6 +247,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 		reporter.setIsPresent(health_component_t::battery);
 	}
 
+	_last_armed = context.isArmed();
 }
 
 void BatteryChecks::rtlEstimateCheck(const Context &context, Report &reporter, float worst_battery_time_s)
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp
index c144f8f3b8..2d5330f5ae 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.hpp
@@ -53,5 +53,7 @@ private:
 
 	uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
 	uORB::Subscription					_rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)};
+	bool _last_armed{false};
+	bool _battery_connected_at_arming[battery_status_s::MAX_INSTANCES] {};
 
 };