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Alarming battery monitors like these are popular. It doesn't cut off the power but it does make a really loud alarm when the voltage drops below the set level. It plugs into the balance connector on the LiPo and can be left there while the battery is in use.
This doesn't resolve the issue but could help users in the short-term. Mine didn't come from Amazon, and there might be a better version out there these days.
I think this is a good addition, perhaps an optional one. We do have the INA260 and it's worked into the code already so perhaps we can do something with that? Like a relay that can be triggered from the RPi and can be manually switched back on?
There should be some kind of monitoring circuit that cuts off the battery when it reaches a low voltage, to prevent over-discharging LiPos
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