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Commander: message planned battery action with warning together

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This commit is contained in:
Matthias Grob
2022-01-26 20:27:51 +01:00
committed by Daniel Agar
parent 973116c7a4
commit ae0bb8371d
3 changed files with 43 additions and 16 deletions
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src/modules/commander/Commander.cpp
+6 -8
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@@ -3885,19 +3885,17 @@ 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);
_battery_failsafe_timestamp = hrt_absolute_time();
uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get());
warn_user_about_battery(&_mavlink_log_pub, _battery_warning,
failsafe_action, _param_com_bat_act_t.get(),
main_state_str(failsafe_action), navigation_mode(failsafe_action));
_battery_failsafe_timestamp = hrt_absolute_time();
// Switch to loiter to wait for the reaction delay
if (_param_com_bat_act_t.get() > 0.f
&& failsafe_action != commander_state_s::MAIN_STATE_MAX) {
mavlink_log_critical(&_mavlink_log_pub, "Executing %s in %d seconds",
main_state_str(failsafe_action), static_cast<uint16_t>(_param_com_bat_act_t.get()));
events::send<events::px4::enums::navigation_mode_t, uint16_t>(events::ID("commander_low_bat_action"), {events::Log::Critical, events::LogInternal::Warning},
"Executing {1} in {2} seconds",
navigation_mode(failsafe_action), static_cast<uint16_t>(_param_com_bat_act_t.get()));
main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state);
}
}