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failsafe: COM_LOW_BAT_ACT also configures time based low battery action

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This commit is contained in:
Matthias Grob 2023-03-23 19:44:50 +01:00
parent ac6c9c857a
commit f8e1708ebf
1 changed files with 3 additions and 1 deletions
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4
src/modules/commander/failsafe/failsafe.cpp
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@ -404,7 +404,9 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred());
// Battery
CHECK_FAILSAFE(status_flags, battery_low_remaining_time, ActionOptions(Action::RTL).causedBy(Cause::BatteryLow));
ActionOptions battery_low_remaining_time_action = (_param_com_low_bat_act.get() == LowBatteryAction::ReturnOrLand) ?
ActionOptions(Action::RTL).causedBy(Cause::BatteryLow) : Action::Warn;
CHECK_FAILSAFE(status_flags, battery_low_remaining_time, battery_low_remaining_time_action);
CHECK_FAILSAFE(status_flags, battery_unhealthy, Action::Warn);
switch (status_flags.battery_warning) {