From 6e15dd5328f183f3202f68f50409a33bfb33a3c7 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 10:35:45 +0100 Subject: [PATCH] Commander: trigger warning when arming denied due to check failure Signed-off-by: Silvan Fuhrer --- src/modules/commander/Commander.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index bca8ef3f68..444f5b0c8d 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -598,6 +598,9 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ if (!_health_and_arming_checks.canArm(_vehicle_status.nav_state)) { tune_negative(true); + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: Resolve system health failures first\t"); + events::send(events::ID("commander_arm_denied_resolve_failures"), {events::Log::Critical, events::LogInternal::Info}, + "Arming denied: Resolve system health failures first"); return TRANSITION_DENIED; } }