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batteryCheck: refine low battery reporting sevirity

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To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.

Low - Critical
Critical - Critical
Emergency - Emergency
This commit is contained in:
Matthias Grob 2025-05-21 14:40:46 +02:00
parent fa168c4d4f
commit a9f7f00844
2 changed files with 7 additions and 8 deletions
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12
src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
View File

@ -204,12 +204,12 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
const bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::WARNING_CRITICAL;
NavModes affected_modes = (!configured_arm_threshold_in_use && critical_or_higher)
|| (configured_arm_threshold_in_use && below_configured_arm_threshold) ? NavModes::All : NavModes::None;
events::LogLevel log_level = critical_or_higher || below_configured_arm_threshold
? events::Log::Critical : events::Log::Warning;
switch (reporter.failsafeFlags().battery_warning) {
default:
case battery_status_s::WARNING_LOW:
// This is declared critical so QGC displays a yellow box and reads "low battery" out loud making the user aware
/* EVENT
* @description
* The lowest battery state of charge is below the low threshold.
@ -219,10 +219,10 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"),
log_level, "Low battery");
events::Log::Critical, "Low battery");
if (reporter.mavlink_log_pub()) {
mavlink_log_warning(reporter.mavlink_log_pub(), "Low battery\t");
mavlink_log_critical(reporter.mavlink_log_pub(), "Low battery\t");
}
break;
@ -237,7 +237,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_critical"),
log_level, "Critical battery");
events::Log::Critical, "Critical battery");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Critical battery\t");
@ -255,7 +255,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_emergency"),
log_level, "Emergency battery level");
events::Log::Emergency, "Emergency battery level");
if (reporter.mavlink_log_pub()) {
mavlink_log_emergency(reporter.mavlink_log_pub(), "Emergency battery level\t");

3
src/modules/commander/failsafe/framework.cpp
View File

@ -292,10 +292,9 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
if (action != Action::Warn) {
mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated\t");
};
}
}
#endif /* EMSCRIPTEN_BUILD */
}