diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 15 |
1 files changed, 6 insertions, 9 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 193a7473e..20bfca477 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1311,14 +1311,14 @@ int commander_thread_main(int argc, char *argv[]) /* play tune when armed */ set_tune(TONE_ARMING_WARNING_TUNE); - } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { - /* play tune on battery warning */ - set_tune(TONE_BATTERY_WARNING_SLOW_TUNE); - } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { /* play tune on battery critical */ set_tune(TONE_BATTERY_WARNING_FAST_TUNE); + } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe_state != FAILSAFE_STATE_NORMAL) { + /* play tune on battery warning or failsafe */ + set_tune(TONE_BATTERY_WARNING_SLOW_TUNE); + } else if (battery_tune_played) { set_tune(TONE_STOP_TUNE); battery_tune_played = false; @@ -1420,11 +1420,8 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a if (set_normal_color) { /* set color */ - if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) { - if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) { - rgbled_set_color(RGBLED_COLOR_AMBER); - } - + if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe_state != FAILSAFE_STATE_NORMAL) { + rgbled_set_color(RGBLED_COLOR_AMBER); /* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */ } else { |