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AP_PosControl: emit mavlink warning instead of internal error

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This commit is contained in:
Willian Galvani 2022-09-26 18:41:19 -03:00
parent 2ebd317585
commit 80c87f3d48
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -615,7 +615,7 @@ void AC_PosControl::update_xy_controller()
init_xy_controller(); init_xy_controller();
if (has_good_timing()) { if (has_good_timing()) {
// call internal error because initialisation has not been done // call internal error because initialisation has not been done
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); gcs().send_text(MAV_SEVERITY_WARNING, "Bad loop slippage detected.");
} }
} }
_last_update_xy_us = AP_HAL::micros64(); _last_update_xy_us = AP_HAL::micros64();
@ -962,7 +962,7 @@ void AC_PosControl::update_z_controller()
init_z_controller(); init_z_controller();
if (has_good_timing()) { if (has_good_timing()) {
// call internal error because initialisation has not been done // call internal error because initialisation has not been done
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); gcs().send_text(MAV_SEVERITY_WARNING, "Bad loop slippage detected.");
} }
} }
_last_update_z_us = AP_HAL::micros64(); _last_update_z_us = AP_HAL::micros64();