From 9489857f01be337b791ef84ee88cb74e139740b3 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 1 Sep 2013 17:00:43 +0200
Subject: [PATCH] [rotorcraft] add FAILSAFE_ON_BAT_CRITICAL

set FAILSAFE_ON_BAT_CRITICAL to TRUE if you want to go into FAILSAFE mode (neutral attitude, slowly descend)
if battery status is critical (vsupply voltage below CRITIC_BAT_LEVEL for a while)
---
 sw/airborne/firmwares/rotorcraft/main.c | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index beb36fcb31..8dfd160743 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -222,6 +222,14 @@ STATIC_INLINE void failsafe_check( void ) {
     autopilot_set_mode(AP_MODE_FAILSAFE);
   }
 
+#if FAILSAFE_ON_BAT_CRITICAL
+  if (autopilot_mode != AP_MODE_KILL &&
+      electrical.bat_critical)
+  {
+    autopilot_set_mode(AP_MODE_FAILSAFE);
+  }
+#endif
+
 #if USE_GPS
   if (autopilot_mode == AP_MODE_NAV &&
       autopilot_motors_on &&