From 23624919ab9410de47adc56fb38c894cd5032490 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Fri, 22 May 2015 11:42:49 -0700
Subject: [PATCH] Better handling of battery already connected warning

---
 src/AutoPilotPlugins/PX4/PowerComponent.qml          | 1 +
 src/AutoPilotPlugins/PX4/PowerComponentController.cc | 7 +++++++
 src/AutoPilotPlugins/PX4/PowerComponentController.h  | 1 +
 3 files changed, 9 insertions(+)

diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.qml b/src/AutoPilotPlugins/PX4/PowerComponent.qml
index f0c1b68..a02c801 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponent.qml
+++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml
@@ -110,6 +110,7 @@ QGCView {
                 onCalibrationFailed:    showMessage("ESC Calibration failed", errorMessage, StandardButton.Ok)
                 onCalibrationSuccess:   showMessage("ESC Calibration", "Calibration complete. You can disconnect your battery now if you like.", StandardButton.Ok)
                 onConnectBattery:       showMessage("ESC Calibration", "WARNING: Props must be removed from vehicle prior to performing ESC calibration.\n\nConnect the battery now and calibration will begin.", 0)
+                onDisconnectBattery:    showMessage("ESC Calibration failed", "You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again.", , StandardButton.Ok)
             }
 
             Column {
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.cc b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
index 4b2c076..ce17b81 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
@@ -105,8 +105,15 @@ void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int
         return;
     }
 
+    
     QString failedPrefix("calibration failed: ");
     if (text.startsWith(failedPrefix)) {
+        QString failureText = text.right(text.length() - failedPrefix.length());
+        if (failureText.startsWith("Disconnect battery")) {
+            emit disconnectBattery();
+            return;
+        }
+        
         _stopCalibration();
         emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
         return;
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.h b/src/AutoPilotPlugins/PX4/PowerComponentController.h
index 3c77045..0b99874 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponentController.h
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.h
@@ -49,6 +49,7 @@ signals:
     void newerFirmware(void);
     void incorrectFirmwareRevReporting(void);
     void connectBattery(void);
+    void disconnectBattery(void);
     void batteryConnected(void);
     void calibrationFailed(const QString& errorMessage);
     void calibrationSuccess(const QStringList& warningMessages);