Commander: put battery warning and failsafe action in separate functions

src/modules/commander/Commander.cpp

@@ -3889,8 +3889,8 @@ void Commander::battery_status_check()
 
 	// execute battery failsafe if the state has gotten worse while we are armed
 	if (battery_warning_level_increased_while_armed) {
-		battery_failsafe(&_mavlink_log_pub, _status, _status_flags, _internal_state, _battery_warning,
-				 (low_battery_action_t)_param_com_low_bat_act.get());
+		warn_user_about_battery(&_mavlink_log_pub, _battery_warning);
+		act_on_battery_failsafe(_internal_state, _battery_warning, (low_battery_action_t)_param_com_low_bat_act.get());
 	}
 
 	// Handle shutdown request from emergency battery action

src/modules/commander/state_machine_helper.cpp

@@ -1104,9 +1104,7 @@ void reset_offboard_loss_globals(actuator_armed_s &armed, const bool old_failsaf
 	}
 }
 
-void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
-		      const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, const uint8_t battery_warning,
-		      const low_battery_action_t low_battery_action)
+void warn_user_about_battery(orb_advert_t *mavlink_log_pub, const uint8_t battery_warning)
 {
 	static constexpr char battery_level[] = "battery level";
 
@@ -1138,7 +1136,11 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 
 	case battery_status_s::BATTERY_WARNING_NONE: break; // no warning
 	}
+}
 
+void act_on_battery_failsafe(commander_state_s &internal_state, const uint8_t battery_warning,
+			     const low_battery_action_t param_com_low_bat_act)
+{
 	// Failsafe action
 	const bool already_landing = internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND
 				     || internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND;
@@ -1148,7 +1150,7 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 	// The main state is directly changed for the action because we need the fallbacks by the navigation state.
 	switch (battery_warning) {
 	case battery_status_s::BATTERY_WARNING_CRITICAL:
-		switch (low_battery_action) {
+		switch (param_com_low_bat_act) {
 		case LOW_BAT_ACTION::RETURN:
 		case LOW_BAT_ACTION::RETURN_OR_LAND:
 			if (!already_landing_or_rtl) {
@@ -1174,7 +1176,7 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 		break;
 
 	case battery_status_s::BATTERY_WARNING_EMERGENCY:
-		switch (low_battery_action) {
+		switch (param_com_low_bat_act) {
 		case LOW_BAT_ACTION::RETURN:
 			if (!already_landing_or_rtl) {
 				internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_RTL;

src/modules/commander/state_machine_helper.h

@@ -142,10 +142,9 @@ typedef enum LOW_BAT_ACTION {
 	RETURN_OR_LAND = 3	// Return mode at critically low level, Land mode at current position if reaching dangerously low levels
 } low_battery_action_t;
 
-void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
-		      const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, const uint8_t battery_warning,
-		      const low_battery_action_t low_bat_action);
-
+void warn_user_about_battery(orb_advert_t *mavlink_log_pub, const uint8_t battery_warning);
+void act_on_battery_failsafe(commander_state_s &commander_state, const uint8_t battery_warning,
+			     const low_battery_action_t param_com_low_bat_act);
 
 // COM_IMB_PROP_ACT parameter values
 enum class imbalanced_propeller_action_t {