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Battery: directly evaluate critical battery state if set, wait longer for USB detection to happen (#5460)

This commit is contained in:
Andreas Daniel Antener 2016-09-07 07:26:06 +02:00 committed by Lorenz Meier
parent e011a528eb
commit 9ea4c33ede
1 changed files with 3 additions and 4 deletions
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7
src/modules/commander/commander.cpp
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@ -2088,8 +2088,8 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
/* only consider battery voltage if system has been running 2s and battery voltage is valid */
if (hrt_absolute_time() > commander_boot_timestamp + 2000000
/* only consider battery voltage if system has been running 6s (usb most likely detected) and battery voltage is valid */
if (hrt_absolute_time() > commander_boot_timestamp + 6000000
&& battery.voltage_filtered_v > 2.0f * FLT_EPSILON) {
/* if battery voltage is getting lower, warn using buzzer, etc. */
@ -2104,8 +2104,7 @@ int commander_thread_main(int argc, char *argv[])
} else if (!status_flags.usb_connected &&
battery.warning == battery_status_s::BATTERY_WARNING_CRITICAL &&
!critical_battery_voltage_actions_done &&
low_battery_voltage_actions_done) {
!critical_battery_voltage_actions_done) {
critical_battery_voltage_actions_done = true;
if (!armed.armed) {