Mission planner conditional triggers based on maH (consumed) or cell voltage threshold.

I would love a way to trigger/jump to a new navigation command based on a low 
MAH level or voltage drop?  I'm wondering about this as a safety measure for 
high altitude / long range flights over the corn fields here in WI.  The type 
of behavior in which I'm interested can be described as follows:

For long range:

1:..

2:..

3: Go to waypoint B     // lets say 10 miles away

   - Conditional: If you reach 60% battery (consumed 40%), jump to step 6

4:..

5:..

6: Return home

For high altitude: similar check

1: Climb at efficient rate to 10,000 feet    // or more, whatever

   - Conditional: if you reach 60% battery OR if the voltage shows signs of dropping, jump to step 3

2:...

3: Motor off and glide back to home

The main reason I'm wondering is battery integrity.  If it gets cold and only 
provides 4000/5000 mah capacity, then the plane would endlessly try to climb 
(and crash with no motor), or keep heading to a distant waypoint even though 
the turnaround point has been passed.  The main culprit?  Cold, aging battery, 
whatever.

Thanks for your help!

  Adam

Original issue reported on code.google.com by AJHagge...@gmail.com on 19 Feb 2012 at 12:55

RizkiWahyupratama / ardupilot-mega

Mission planner conditional triggers based on maH (consumed) or cell voltage threshold. #514