Sub: failsafe_battery_event() -> failsafe_battery_check()

ArduSub/Sub.h

@@ -624,7 +624,7 @@ private:
     void failsafe_ekf_event();
     void failsafe_ekf_off_event(void);
     bool should_disarm_on_failsafe();
-    void failsafe_battery_event(void);
+    void failsafe_battery_check(void);
     void failsafe_gcs_check();
     void failsafe_manual_control_check(void);
     void set_neutral_controls(void);

ArduSub/failsafe.cpp

@@ -70,7 +70,7 @@ void Sub::failsafe_check()
     }
 }
 
-void Sub::failsafe_battery_event(void)
+void Sub::failsafe_battery_check(void)
 {
     //    // return immediately if low battery event has already been triggered
     //    if (failsafe.battery) {

ArduSub/sensors.cpp

@@ -160,15 +160,12 @@ void Sub::read_battery(void)
     if (battery.get_type() != AP_BattMonitor::BattMonitor_TYPE_NONE) {
         motors.set_voltage(battery.voltage());
     }
+
     if (battery.has_current()) {
         motors.set_current(battery.current_amps());
     }
 
-    // check for low voltage or current if the low voltage check hasn't already been triggered
-    // we only check when we're not powered by USB to avoid false alarms during bench tests
-    if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
-        failsafe_battery_event();
-    }
+    failsafe_battery_check();
 
     // log battery info to the dataflash
     if (should_log(MASK_LOG_CURRENT)) {