From 4d5f922e7a2f84569a65ccbc5cb351d55c96cd0e Mon Sep 17 00:00:00 2001 From: Andrei Korigodski Date: Thu, 14 Jun 2018 00:52:39 +0300 Subject: [PATCH] commander: use shutdown_if_allowed() to check for shutdown safety Signed-off-by: Andrei Korigodski --- src/modules/commander/Commander.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index e69fde48f2..3bbd2e5acc 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -3867,9 +3867,9 @@ void Commander::battery_status_check() } // Handle shutdown request from emergency battery action - if (!armed.armed && (battery.warning != _battery_warning)) { + if (battery.warning != _battery_warning) { - if (battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) { + if ((battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) && shutdown_if_allowed()) { mavlink_log_critical(&mavlink_log_pub, "Dangerously low battery! Shutting system down"); px4_usleep(200000);