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publish battery_dangerous message if battery level is dangerous

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-06-18 10:12:54 +03:00
committed by Daniel Agar
parent e2ad1bbc91
commit f792cc7b6b
1 changed files with 3 additions and 3 deletions
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6
src/modules/commander/state_machine_helper.cpp
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@@ -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;
}