Update main.cpp

Additional logic for mower wheel lift/tilt.

Single wheel lift has an increased delay before emergency.

Author: kevinmce

Firmware/LowLevel/src/main.cpp

@@ -31,8 +31,8 @@
 #define STATUS_CYCLETIME 100      // cycletime for refresh analog and digital Statusvalues
 #define UI_SET_LED_CYCLETIME 1000 // cycletime for refresh UI status LEDs
 
-#define TILT_EMERGENCY_MILLIS 500  // Time for wheels to be lifted in order to count as emergency. This is to filter uneven ground.
-#define LIFT_EMERGENCY_MILLIS 2000  // Time for one wheel to be lifted in order to count as emergency. This is to filter uneven ground.
+#define TILT_EMERGENCY_MILLIS 2500  // Time for wheels to be lifted in order to count as emergency. This is to filter uneven ground.
+#define LIFT_EMERGENCY_MILLIS 500  // Time for one wheel to be lifted in order to count as emergency. This is to filter uneven ground.
 #define BUTTON_EMERGENCY_MILLIS 20 // Time for button emergency to activate. This is to debounce the button if triggered on bumpy surfaces
 
 // Define to stream debugging messages via USB
@@ -530,7 +530,7 @@ void onPacketReceived(const uint8_t *buffer, size_t size) {
 
 // returns true, if it's a good idea to charge the battery (current, voltages, ...)
 bool checkShouldCharge() {
-    return status_message.v_charge < 30.0 && status_message.charging_current < 1.5 && status_message.v_battery < 29.0;
+    return status_message.v_charge < 30.0 && status_message.charging_current < 2 && status_message.v_battery < 29.0;
 }
 
 void updateChargingEnabled() {