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Commander: Better RTL output

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This commit is contained in:
Lorenz Meier
2016-04-23 15:12:20 +02:00
parent 36e2bdf876
commit 50433c5eee
1 changed files with 4 additions and 1 deletions
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src/modules/commander/commander.cpp
+4 -1
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@@ -1967,7 +1967,7 @@ int commander_thread_main(int argc, char *argv[])
/* only consider battery voltage if system has been running 2s and battery voltage is valid */
if (hrt_absolute_time() > commander_boot_timestamp + 2000000
&& battery.voltage_filtered_v > FLT_EPSILON) {
&& battery.voltage_filtered_v > 2.0f * FLT_EPSILON) {
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (battery.warning == battery_status_s::BATTERY_WARNING_LOW &&
@@ -1992,6 +1992,9 @@ int commander_thread_main(int argc, char *argv[])
if (!rtl_on) {
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
rtl_on = true;
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
} else {
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RTL FAILED");
}
}
} else {