// read_battery - reads battery voltage and current and invokes failsafe // should be called at 10hz void Plane::read_battery(void) { battery.read(); compass.set_current(battery.current_amps()); if (!usb_connected && hal.util->get_soft_armed() && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) { low_battery_event(); } }
// read_battery - reads battery voltage and current and invokes failsafe // should be called at 10hz void Plane::read_battery(void) { battery.read(); compass.set_current(battery.current_amps()); if (!usb_connected && hal.util->get_soft_armed() && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) { low_battery_event(); } if (should_log(MASK_LOG_CURRENT)) { Log_Write_Current(); } }