minimalRemainingMissionTime added to General Settings, and Low Battery...

minimalRemainingMissionTime added to General Settings, and Low Battery Handling on small minimalRemainingMissionTime function added

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
 }
 ]

src/Settings/WimaSettings.cc

@@ -10,3 +10,4 @@ DECLARE_SETTINGGROUP(Wima, "Wima")
 
 DECLARE_SETTINGSFACT(WimaSettings, lowBatteryThreshold)
 DECLARE_SETTINGSFACT(WimaSettings, enableLowBatteryHandling)
+DECLARE_SETTINGSFACT(WimaSettings, minimalRemainingMissionTime)

src/Settings/WimaSettings.h

@@ -12,4 +12,5 @@ public:
 
     DEFINE_SETTINGFACT(lowBatteryThreshold)
     DEFINE_SETTINGFACT(enableLowBatteryHandling)
+    DEFINE_SETTINGFACT(minimalRemainingMissionTime)
 };

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 {

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
+                            }
                         }
                     }