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

@@ -922,8 +922,9 @@ void WimaController::checkBatteryLevel()
     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);
@@ -934,9 +935,15 @@ void WimaController::checkBatteryLevel()
                 && battery2percentRemaining->rawValue().toDouble() < batteryThreshold) {
             _setVehicleHasLowBattery(true);
             if (!_lowBatteryHandlingTriggered) {
+
+                if (_missionController->remainingTime() <= minTime) {
+                    _lowBatteryHandlingTriggered = true;
+                }
+                else {
                     QString errorString;
                     attemptCounter++;
                     if (_checkSmartRTLPreCondition(errorString) == true) {
+
                         managerVehicle->pauseVehicle();
                         if (_calcReturnPath(errorString)) {
                             _lowBatteryHandlingTriggered = true;
@@ -955,6 +962,7 @@ void WimaController::checkBatteryLevel()
                     }
                 }
             }
+        }
         else {
             _setVehicleHasLowBattery(false);
             _lowBatteryHandlingTriggered = false;

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
+                            }
                         }
                     }