From f792cc7b6be543b1b9f30d708297f7f50eb1ecd7 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Thu, 18 Jun 2020 10:12:54 +0300 Subject: [PATCH] publish battery_dangerous message if battery level is dangerous Signed-off-by: RomanBapst --- src/modules/commander/state_machine_helper.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 957e3e8c1a..b03b952b73 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -1042,12 +1042,12 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) { internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_RTL; internal_state->timestamp = hrt_absolute_time(); - mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_critical); + mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_dangerous); } else { internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND; internal_state->timestamp = hrt_absolute_time(); - mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_critical); + mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_dangerous); } break; @@ -1058,7 +1058,7 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta case LOW_BAT_ACTION::LAND: internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND; internal_state->timestamp = hrt_absolute_time(); - mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_critical); + mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_dangerous); break; }