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addressing review comments from #9563

This commit is contained in:
Alessandro Simovic 2018-05-30 16:06:49 +02:00 committed by Lorenz Meier
parent 52c290e234
commit 15a44a059d
1 changed files with 2 additions and 1 deletions
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3
src/modules/commander/commander.cpp
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@ -2741,13 +2741,14 @@ Commander::run()
arm_auth_update(now, params_updated || param_init_forced);
// Handle shutdown request from emergency battery action
if(dangerous_battery_level_requests_poweroff){
if(!armed.armed && dangerous_battery_level_requests_poweroff){
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
usleep(200000);
int ret_val = px4_shutdown_request(false, false);
if (ret_val) {
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
dangerous_battery_level_requests_poweroff = false;
} else {
while (1) { usleep(1); }