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Commander: Indicate low battery

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This commit is contained in:
Lorenz Meier
2016-04-10 10:57:38 -07:00
parent e3d6bad3fe
commit ad3ca2a9d2
2 changed files with 13 additions and 14 deletions
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src/modules/commander/commander.cpp
+2 -10
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@@ -2017,16 +2017,8 @@ int commander_thread_main(int argc, char *argv[])
critical_battery_voltage_actions_done = true;
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL;
if (!armed.armed) {
arming_ret = arming_state_transition(&status, &safety,
vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
&armed, true /* fRunPreArmChecks */, &mavlink_log_pub);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
mavlink_and_console_log_critical(&mavlink_log_pub, "LOW BATTERY, LOCKING ARMING DOWN");
}
if (armed.armed) {
mavlink_and_console_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
} else {
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LAND IMMEDIATELY");
}