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commander: Warn at 18 and 9% battery remaining instead of 25 and 10% to not trigger the warning too early (at 50%) as it was before

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Lorenz Meier
2014-07-19 14:34:19 +02:00
parent 3a0fc36c67
commit 3db78a4ab3
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/commander.cpp
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@@ -1276,13 +1276,13 @@ int commander_thread_main(int argc, char *argv[])
}
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.18f && !low_battery_voltage_actions_done) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.9f && !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;
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");