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Commander: ensure low battery failsafe flying unatended without GPS

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This commit is contained in:
Matthias Grob
2022-01-18 10:58:13 +01:00
committed by Daniel Agar
parent 1911ec0085
commit 5ec21835a4
1 changed files with 2 additions and 1 deletions
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src/modules/commander/Commander.cpp
+2 -1
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@@ -3904,7 +3904,8 @@ void Commander::battery_status_check()
if (_battery_failsafe_timestamp != 0
&& hrt_elapsed_time(&_battery_failsafe_timestamp) > _param_com_bat_act_t.get() * 1_s
&& _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER) {
&& (_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER
|| _vehicle_control_mode.flag_control_auto_enabled)) {
_battery_failsafe_timestamp = 0;
uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning,
(low_battery_action_t)_param_com_low_bat_act.get());