diff options
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index f7e93db6c..8323932c7 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1253,6 +1253,8 @@ int commander_thread_main(int argc, char *argv[]) current_status.flag_external_manual_override_ok = true; /* flag position info as bad, do not allow auto mode */ current_status.flag_vector_flight_mode_ok = false; + /* set battery warning flag */ + current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; /* advertise to ORB */ stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); @@ -1510,6 +1512,7 @@ int commander_thread_main(int argc, char *argv[]) if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { low_battery_voltage_actions_done = true; mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!"); + current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; } low_voltage_counter++; @@ -1520,6 +1523,7 @@ int commander_thread_main(int argc, char *argv[]) if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { critical_battery_voltage_actions_done = true; mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!"); + current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); } |