Merge pull request mavlink#5790 from DonLakeFlyer/BatteryAnnounce

Fix battery announce for battery change
guojinxiang · Oct 28, 2017 · 1ae6821 · 1ae6821
2 parents 50a1686 + 5cd2619
commit 1ae6821
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
@@ -914,11 +914,12 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
     }
     _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
 
-    if (sysStatus.battery_remaining > 0 &&
-            sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt() &&
-            sysStatus.battery_remaining < _lastAnnouncedLowBatteryPercent) {
+    if (sysStatus.battery_remaining > 0) {
+        if (sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt() &&
+                sysStatus.battery_remaining < _lastAnnouncedLowBatteryPercent) {
+            _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
+        }
         _lastAnnouncedLowBatteryPercent = sysStatus.battery_remaining;
-        _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
     }
 
     _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;