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Corrected battery monitoring in apo.

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This commit is contained in:
James Goppert 2011-10-20 02:28:47 -04:00
parent 9e9da38c67
commit 986fca3116
2 changed files with 4 additions and 4 deletions
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2
apo/ControllerQuad.h
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@ -127,7 +127,7 @@ public:
_mode = MAV_MODE_FAILSAFE;
_hal->gcs->sendText(SEVERITY_HIGH, PSTR("configure gcs to send heartbeat"));
// if battery less than 5%, go to failsafe
} else if (_hal->batteryMonitor->getPercentage() < 5) {
} else if (_hal->batteryMonitor && _hal->batteryMonitor->getPercentage() < 5) {
_mode = MAV_MODE_FAILSAFE;
_hal->gcs->sendText(SEVERITY_HIGH, PSTR("recharge battery"));
// manual/auto switch

6
libraries/APO/AP_Autopilot.cpp
View File

@ -211,10 +211,10 @@ void AP_Autopilot::callback2(void * data) {
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GPS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GLOBAL_POSITION);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
}
/*