From 1998ce120514b808f4b8b5256302e05001b4e33c Mon Sep 17 00:00:00 2001 From: unknown Date: Tue, 8 Jan 2013 20:37:47 +0100 Subject: Battery-Warn-State added to struct Vehicle_Status --- apps/commander/commander.c | 3 +++ 1 file changed, 3 insertions(+) (limited to 'apps/commander/commander.c') diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 17087ab8a..986266843 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1200,6 +1200,7 @@ int commander_thread_main(int argc, char *argv[]) /* mark all signals lost as long as they haven't been found */ current_status.rc_signal_lost = true; current_status.offboard_control_signal_lost = true; + current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; /* advertise to ORB */ stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); @@ -1393,6 +1394,7 @@ int commander_thread_main(int argc, char *argv[]) if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { low_battery_voltage_actions_done = true; + current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; mavlink_log_critical(mavlink_fd, "[commander] WARNING! LOW BATTERY!"); } @@ -1403,6 +1405,7 @@ int commander_thread_main(int argc, char *argv[]) else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { critical_battery_voltage_actions_done = true; + current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CRITICAL BATTERY!"); state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); } -- cgit v1.2.3