diff --git a/Paths/KlingenbachTest.wima b/Paths/KlingenbachTest.wima
index d2eaae2f8fe7fe5acf682a6bd25971297606b8f9..971447174c670fd9cd74c3508ce0e65abcad4a90 100644
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],
- "referencePointAlt": 0,
- "referencePointLat": 47.77084533809114,
- "referencePointLong": 16.531052235520093,
+ "referencePointAlt": null,
+ "referencePointLat": 47.77086091347008,
+ "referencePointLong": 16.531071041719485,
+ "reverse": false,
"transectMinLength": 15,
"type": "ComplexItem",
"version": 1
@@ -5780,7 +1321,7 @@
"AltitudeMode": 1,
"autoContinue": true,
"command": 21,
- "doJumpId": 340,
+ "doJumpId": 64,
"frame": 3,
"params": [
0,
diff --git a/src/Settings/Wima.SettingsGroup.json b/src/Settings/Wima.SettingsGroup.json
index 076a37f0c85a09a9727511cc783d5ee792c855b6..54aacd736e7299bf28dd26fbf3188477dc28c156 100644
--- a/src/Settings/Wima.SettingsGroup.json
+++ b/src/Settings/Wima.SettingsGroup.json
@@ -11,5 +11,12 @@
"shortDescription": "Enables or disables low battery handling measures.",
"type": "bool",
"defaultValue": true
+},
+{
+ "name": "minimalRemainingMissionTime",
+ "shortDescription": "If the remaining estimated mission time is lower than this value, low battery handling will not be triggered.",
+ "type": "uint64",
+ "units": "s",
+ "defaultValue": 60
}
]
diff --git a/src/Settings/WimaSettings.cc b/src/Settings/WimaSettings.cc
index 7028cb8bac497cd7f70931e7532f31c1e66859a2..8aa5a8c575eef37628c9fdb515c470d546c86ac0 100644
--- a/src/Settings/WimaSettings.cc
+++ b/src/Settings/WimaSettings.cc
@@ -10,3 +10,4 @@ DECLARE_SETTINGGROUP(Wima, "Wima")
DECLARE_SETTINGSFACT(WimaSettings, lowBatteryThreshold)
DECLARE_SETTINGSFACT(WimaSettings, enableLowBatteryHandling)
+DECLARE_SETTINGSFACT(WimaSettings, minimalRemainingMissionTime)
diff --git a/src/Settings/WimaSettings.h b/src/Settings/WimaSettings.h
index 6ef43a4d833e3bf64773d2c3a95a2ecdce05f4e8..3f2ab2e0c39f71d1f75eab26e71312cfd1a17667 100644
--- a/src/Settings/WimaSettings.h
+++ b/src/Settings/WimaSettings.h
@@ -12,4 +12,5 @@ public:
DEFINE_SETTINGFACT(lowBatteryThreshold)
DEFINE_SETTINGFACT(enableLowBatteryHandling)
+ DEFINE_SETTINGFACT(minimalRemainingMissionTime)
};
diff --git a/src/Wima/WimaController.cc b/src/Wima/WimaController.cc
index 0c76e2fb1a34cd42d901b5ff1957906da90887b4..b89c684d1cd7a56d904df9d7b0f48a3c3917928f 100644
--- a/src/Wima/WimaController.cc
+++ b/src/Wima/WimaController.cc
@@ -918,12 +918,13 @@ void WimaController::updateAltitude()
void WimaController::checkBatteryLevel()
{
- Vehicle *managerVehicle = masterController()->managerVehicle();
- WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings();
- int batteryThreshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt();
- bool enabled = _enableWimaController.rawValue().toBool();
+ Vehicle *managerVehicle = masterController()->managerVehicle();
+ WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings();
+ int batteryThreshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt();
+ bool enabled = _enableWimaController.rawValue().toBool();
+ unsigned int minTime = wimaSettings->minimalRemainingMissionTime()->rawValue().toUInt();
- static long attemptCounter = 0;
+ static short attemptCounter = 0;
if (managerVehicle != nullptr && enabled == true) {
Fact *battery1percentRemaining = managerVehicle->battery1FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
@@ -934,25 +935,32 @@ void WimaController::checkBatteryLevel()
&& battery2percentRemaining->rawValue().toDouble() < batteryThreshold) {
_setVehicleHasLowBattery(true);
if (!_lowBatteryHandlingTriggered) {
- QString errorString;
- attemptCounter++;
- if (_checkSmartRTLPreCondition(errorString) == true) {
- managerVehicle->pauseVehicle();
- if (_calcReturnPath(errorString)) {
+
+ if (_missionController->remainingTime() <= minTime) {
+ _lowBatteryHandlingTriggered = true;
+ }
+ else {
+ QString errorString;
+ attemptCounter++;
+ if (_checkSmartRTLPreCondition(errorString) == true) {
+
+ managerVehicle->pauseVehicle();
+ if (_calcReturnPath(errorString)) {
+ _lowBatteryHandlingTriggered = true;
+ attemptCounter = 0;
+ emit returnBatteryLowConfirmRequired();
+ } else {
+ if (attemptCounter > 3) {
+ qgcApp()->showMessage(tr("Battery level is low. Smart RTL not possible."));
+ qgcApp()->showMessage(errorString);
+ }
+ }
+ }
+ if (attemptCounter > 3) { // try 3 times, somtimes vehicle is outside joined area
_lowBatteryHandlingTriggered = true;
attemptCounter = 0;
- emit returnBatteryLowConfirmRequired();
- } else {
- if (attemptCounter > 3) {
- qgcApp()->showMessage(tr("Battery level is low. Smart RTL not possible."));
- qgcApp()->showMessage(errorString);
- }
}
}
- if (attemptCounter > 3) { // try 3 times, somtimes vehicle is outside joined area
- _lowBatteryHandlingTriggered = true;
- attemptCounter = 0;
- }
}
}
else {
diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml
index 9cb0af4a7331754c206efa50306ff1b7d4e26de4..e896225cfd84ef856cd03484ef980168fc529856 100644
--- a/src/ui/preferences/GeneralSettings.qml
+++ b/src/ui/preferences/GeneralSettings.qml
@@ -959,10 +959,19 @@ QGCView {
}
FactCheckBox {
- text: "Enable low battery handling"
+ text: "Enable low Battery handling"
fact: QGroundControl.settingsManager.wimaSettings.enableLowBatteryHandling
Layout.columnSpan: 2
}
+
+ QGCLabel {
+ text: qsTr("Minimal remaining Mission Time")
+ visible: _userBrandImageIndoor.visible
+ }
+ FactTextField {
+ Layout.preferredWidth: _valueFieldWidth
+ fact: QGroundControl.settingsManager.wimaSettings.minimalRemainingMissionTime
+ }
}
}