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Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery #15306

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Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery #15306

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Fix the case where the flight controller is connected to the battery …
CUAVcaijie Jul 11, 2020
034660a
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CUAVcaijie Aug 17, 2020
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7 changes: 6 additions & 1 deletion src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -598,8 +598,13 @@ class MavlinkStreamSysStatus : public MavlinkStream

int lowest_battery_index = 0;

//No battery is connected, select the first group
//Low battery judgment is performed only when the current battery is connected
//When the last cached battery is not connected or the current battery level is lower than the cached battery level,
//the current battery status is replaced with the cached value
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
if (battery_status[i].connected && (battery_status[i].remaining < battery_status[lowest_battery_index].remaining)) {
if (battery_status[i].connected && ((!battery_status[lowest_battery_index].connected)
|| (battery_status[i].remaining < battery_status[lowest_battery_index].remaining))) {
lowest_battery_index = i;
}
}
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