yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

commander: Be more verbose about low battery warnings, do not trigger low battery warning sound in HIL

Browse Source
This commit is contained in:
Lorenz Meier
2015-05-30 18:42:46 -07:00
parent fc90d93191
commit 164a1178b8
1 changed files with 6 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/commander/commander.cpp
View File

@@ -1582,6 +1582,8 @@ int commander_thread_main(int argc, char *argv[])
low_battery_voltage_actions_done = true;
if (armed.armed) {
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
} else {
mavlink_log_critical(mavlink_fd, "LOW BATTERY, TAKEOFF DISCOURAGED");
}
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
@@ -2054,11 +2056,13 @@ int commander_thread_main(int argc, char *argv[])
set_tune(TONE_ARMING_WARNING_TUNE);
arm_tune_played = true;
} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
} else if (status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
/* play tune on battery critical */
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe) {
} else if (status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe)) {
/* play tune on battery warning or failsafe */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);