commander: use shutdown_if_allowed() to check for shutdown safety

Signed-off-by: Andrei Korigodski <akorigod@gmail.com>
7 years ago · 4d5f922e7a
1 changed files with 2 additions and 2 deletions
--- 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);