From 9ea4c33ede3afae212f3892d9eb70d3ea403c63e Mon Sep 17 00:00:00 2001
From: Andreas Daniel Antener <antener_a@gmx.ch>
Date: Wed, 7 Sep 2016 07:26:06 +0200
Subject: [PATCH] Battery: directly evaluate critical battery state if set,
wait longer for USB detection to happen (#5460)
---
src/modules/commander/commander.cpp | 7 +++----
1 file changed, 3 insertions(+), 4 deletions(-)
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 6bd915db5b..fa8c7a4e5b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -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) {
--
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