From bed77c2988229d5dff411cd7493c0e672dd21eb6 Mon Sep 17 00:00:00 2001 From: CUAVcaijie Date: Mon, 17 Aug 2020 14:37:21 +0800 Subject: [PATCH] add notes --- src/modules/mavlink/mavlink_messages.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 01437c17fd..e688304719 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -603,6 +603,10 @@ protected: int lowest_battery_index = 0; + // No battery is connected, select the first group + // Low battery judgment is performed only when the current battery is connected + // When the last cached battery is not connected or the current battery level is lower than the cached battery level, + // the current battery status is replaced with the cached value for (int i = 0; i < _battery_status_subs.size(); i++) { if (battery_status[i].connected && ((!battery_status[lowest_battery_index].connected) || (battery_status[i].remaining < battery_status[lowest_battery_index].remaining))) {