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Commander: add delay before executing low battery failsafe action

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This commit is contained in:
Matthias Grob
2022-01-31 20:27:06 -05:00
committed by Daniel Agar
parent 3af315f2c3
commit d10f9030ad
3 changed files with 30 additions and 1 deletions
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src/modules/commander/Commander.cpp
+12 -1
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@@ -3876,7 +3876,6 @@ void Commander::battery_status_check()
_battery_warning = worst_warning;
}
_status_flags.condition_battery_healthy =
// All connected batteries are regularly being published
(hrt_elapsed_time(&oldest_update) < 5_s)
@@ -3890,6 +3889,18 @@ 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();
if (get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get()) != commander_state_s::MAIN_STATE_MAX) {
main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state);
}
}
if (_battery_failsafe_timestamp != 0
&& hrt_elapsed_time(&_battery_failsafe_timestamp) > _param_com_bat_act_t.get() * 1_s
&& _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER) {
_battery_failsafe_timestamp = 0;
uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get());