publish battery_dangerous message if battery level is dangerous

Signed-off-by: RomanBapst <bapstroman@gmail.com>
PX4 · Jul 10, 2020 · f792cc7 · f792cc7
1 parent e2ad1bb
commit f792cc7
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
@@ -1042,12 +1042,12 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 			if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
 				internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
 				internal_state->timestamp = hrt_absolute_time();
-				mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_critical);
+				mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_dangerous);
 
 			} else {
 				internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
 				internal_state->timestamp = hrt_absolute_time();
-				mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_critical);
+				mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_dangerous);
 			}
 
 			break;
@@ -1058,7 +1058,7 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 		case LOW_BAT_ACTION::LAND:
 			internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
 			internal_state->timestamp = hrt_absolute_time();
-			mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_critical);
+			mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_dangerous);
 
 			break;
 		}