From 5ec21835a48a54d9288e8510458f81214a45c5da Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 18 Jan 2022 10:58:13 +0100 Subject: [PATCH] Commander: ensure low battery failsafe flying unatended without GPS --- src/modules/commander/Commander.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index ca4a2434bd..104e11380f 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -3904,7 +3904,8 @@ void Commander::battery_status_check() if (_battery_failsafe_timestamp != 0 && hrt_elapsed_time(&_battery_failsafe_timestamp) > _param_com_bat_act_t.get() * 1_s - && _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER) { + && (_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER + || _vehicle_control_mode.flag_control_auto_enabled)) { _battery_failsafe_timestamp = 0; uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning, (low_battery_action_t)_param_com_low_bat_act.get());