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commander: only report manual control lost if found once

This commit is contained in:
Daniel Agar 2020-05-04 14:08:17 -04:00
parent 7bb256f4b7
commit 10b289b43c
1 changed files with 6 additions and 3 deletions
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9
src/modules/commander/Commander.cpp
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@ -1860,8 +1860,11 @@ Commander::run()
} else {
if (status.rc_signal_lost) {
mavlink_log_info(&mavlink_log_pub, "Manual control regained after %llums",
hrt_elapsed_time(&_rc_signal_lost_timestamp) / 1000);
if (_rc_signal_lost_timestamp > 0) {
mavlink_log_info(&mavlink_log_pub, "Manual control regained after %.1fs",
hrt_elapsed_time(&_rc_signal_lost_timestamp) * 1e-6);
}
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, status_flags.rc_calibration_valid, status);
_status_changed = true;
}
@ -2019,7 +2022,7 @@ Commander::run()
/* no else case: do not change lockdown flag in unconfigured case */
} else {
if (!status_flags.rc_input_blocked && !status.rc_signal_lost) {
if (!status_flags.rc_input_blocked && !status.rc_signal_lost && status_flags.rc_signal_found_once) {
mavlink_log_critical(&mavlink_log_pub, "Manual control lost");
status.rc_signal_lost = true;
_rc_signal_lost_timestamp = _sp_man.timestamp;