From 5f8b4968ec6eca40d69f441c54bf2a95ea575ebd Mon Sep 17 00:00:00 2001
From: Mark Whitehorn <kd0aij@gmail.com>
Date: Wed, 28 Oct 2020 11:47:37 -0600
Subject: [PATCH] AP_Vehicle: add instructions for config_error loop

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 4d230215da..52e6c0fb92 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -206,7 +206,11 @@ void AP_Vehicle::scheduler_delay_callback()
     }
     if (tnow - last_5s > 5000) {
         last_5s = tnow;
-        gcs().send_text(MAV_SEVERITY_INFO, "Initialising ArduPilot");
+        if (AP_BoardConfig::in_config_error()) {
+            gcs().send_text(MAV_SEVERITY_CRITICAL, "Config Error: fix problem then reboot");
+        } else {
+            gcs().send_text(MAV_SEVERITY_INFO, "Initialising ArduPilot");
+        }
     }
 
     logger.EnableWrites(true);