diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp index a4fbb525f565b4ef5e45741e252669f2e1d844a1..0c92ed971fd50e8e4e57e18ec869f879b5aa158a 100644 --- a/ArduPlane/events.cpp +++ b/ArduPlane/events.cpp @@ -159,11 +159,13 @@ void Plane::low_battery_event(void) (double)battery.voltage(), (double)battery.current_total_mah()); if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) { #if AP_ACS_USE == TRUE - gcs().send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Battery low: auto-landing.")); + if (! acs.preland_started()) { + gcs().send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Battery low: auto-landing.")); - //start landing if not already (ACS-specific behavior -- land vice RTL) - if (! jump_to_landing_sequence()) { - gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Failed to start emergency land sequence!!")); + //start landing if not already (ACS-specific behavior -- land vice RTL) + if (! jump_to_landing_sequence()) { + gcs().send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Failed to start emergency land sequence!!")); + } } #else set_mode(RTL, MODE_REASON_BATTERY_FAILSAFE);