Added low voltage code flashing code.

ArduCopter/Parameters.h

@@ -17,7 +17,7 @@ public:
 	// The increment will prevent old parameters from being used incorrectly
 	// by newer code.
 	//
-	static const uint16_t k_format_version = 107;
+	static const uint16_t k_format_version = 108;
 
 	// The parameter software_type is set up solely for ground station use
 	// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@@ -78,6 +78,7 @@ public:
 	k_param_top_bottom_ratio,
 	k_param_optflow_enabled,
 	k_param_input_voltage,
+	k_param_low_voltage,
 
 	//
 	// 160: Navigation parameters
@@ -237,6 +238,7 @@ public:
 	AP_Float	top_bottom_ratio;
     AP_Int8		optflow_enabled;
     AP_Float	input_voltage;
+	AP_Float	low_voltage;
 
 	#if FRAME_CONFIG ==	HELI_FRAME
 	// Heli
@@ -300,6 +302,7 @@ public:
 	compass_enabled			(MAGNETOMETER,				k_param_compass_enabled,				PSTR("MAG_ENABLE")),
 	optflow_enabled			(OPTFLOW,					k_param_optflow_enabled,				PSTR("FLOW_ENABLE")),
 	input_voltage			(INPUT_VOLTAGE,				k_param_input_voltage,					PSTR("IN_VOLT")),
+	low_voltage				(LOW_VOLTAGE,				k_param_low_voltage,					PSTR("LOW_VOLT")),
 
 	waypoint_mode			(0,							k_param_waypoint_mode,					PSTR("WP_MODE")),
 	waypoint_total			(0,							k_param_waypoint_total,					PSTR("WP_TOTAL")),

ArduCopter/defines.h

@@ -52,7 +52,7 @@
 #define FR_LED AN12  // Mega PE4 pin, OUT7
 #define RE_LED AN14  // Mega PE5 pin, OUT6
 #define RI_LED AN10  // Mega PH4 pin, OUT5
-#define LE_LED AN8  // Mega PH5 pin, OUT4
+#define LE_LED AN8   // Mega PH5 pin, OUT4
 
 // Internal defines, don't edit and expect things to work
 // -------------------------------------------------------

ArduCopter/leds.pde

@@ -96,26 +96,35 @@ static void clear_leds()
 #if MOTOR_LEDS == 1
 static void update_motor_leds(void)
 {
-	// blink rear
-	static bool blink = false;
-
-	if (blink){
-		digitalWrite(RE_LED, HIGH);
-		digitalWrite(FR_LED, HIGH);
-		digitalWrite(RI_LED, LOW);
-		digitalWrite(LE_LED, LOW);
-	}else{
+	if (motor_armed == true){
+		if (low_batt == true){
+	    	// blink rear
+			static bool blink = false;
+
+			if (blink){
+				digitalWrite(RE_LED, HIGH);
+				digitalWrite(FR_LED, HIGH);
+				digitalWrite(RI_LED, LOW);
+				digitalWrite(LE_LED, LOW);
+			}else{
+				digitalWrite(RE_LED, LOW);
+				digitalWrite(FR_LED, LOW);
+				digitalWrite(RI_LED, HIGH);
+				digitalWrite(LE_LED, HIGH);
+			}
+			blink = !blink;
+		}else{
+			digitalWrite(RE_LED, HIGH);
+			digitalWrite(FR_LED, HIGH);
+			digitalWrite(RI_LED, HIGH);
+			digitalWrite(LE_LED, HIGH);
+		}
+	}else {
 		digitalWrite(RE_LED, LOW);
 		digitalWrite(FR_LED, LOW);
-		digitalWrite(RI_LED, HIGH);
-		digitalWrite(LE_LED, HIGH);
+		digitalWrite(RI_LED, LOW);
+		digitalWrite(LE_LED, LOW);
 	}
-
-	blink = !blink;
-
-	// the variable low_batt is here to let people know the voltage is low or the pack capacity is finished
-	// I don't know what folks want here.
-	// low_batt
 }
 #endif
 

ArduCopter/sensors.pde

@@ -113,17 +113,20 @@ static void read_battery(void)
 
 	if(g.battery_monitoring == 1)
 		battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
+
 	if(g.battery_monitoring == 2)
 		battery_voltage = battery_voltage4;
+
 	if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
 		battery_voltage = battery_voltage1;
+
 	if(g.battery_monitoring == 4) {
 		current_amps	 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps * .9; //reads power sensor current pin
 		current_total	 += current_amps * (float)delta_ms_medium_loop * 0.000278;
 	}
 
 	#if BATTERY_EVENT == 1
-	if(battery_voltage < LOW_VOLTAGE)
+	if(battery_voltage < g.low_voltage)
 		low_battery_event();
 
 	if(g.battery_monitoring == 4 && current_total > g.pack_capacity)