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Don't go into an error state if we are temporarily powering via USB on the bench

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Simon Wilks
2014-10-31 08:58:58 +01:00
parent 9f3c352959
commit c7a3a0db52
1 changed files with 3 additions and 3 deletions
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src/modules/commander/commander.cpp
+3 -3
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@@ -1407,8 +1407,8 @@ int commander_thread_main(int argc, char *argv[])
last_idle_time = system_load.tasks[0].total_runtime;
/* check if board is connected via USB */
//struct stat statbuf;
//on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
struct stat statbuf;
on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
}
/* if battery voltage is getting lower, warn using buzzer, etc. */
@@ -1418,7 +1418,7 @@ int commander_thread_main(int argc, char *argv[])
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f
} else if (!on_usb_power && status.condition_battery_voltage_valid && status.battery_remaining < 0.09f
&& !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;