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Commander: Do not emit status message if RC becomes available first time

This commit is contained in:
Lorenz Meier 2015-09-04 14:57:23 +02:00
parent a058ce4b8e
commit d93337017d
1 changed files with 6 additions and 6 deletions
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12
src/modules/commander/commander.cpp
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@ -1226,7 +1226,8 @@ int commander_thread_main(int argc, char *argv[])
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} else {
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true,
checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
@ -1863,17 +1864,16 @@ int commander_thread_main(int argc, char *argv[])
}
/* RC input check */
if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
(hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f))) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
mavlink_log_info(mavlink_fd, "Detected radio control");
status_changed = true;
} else {
if (status.rc_signal_lost) {
mavlink_log_info(mavlink_fd, "RC SIGNAL REGAINED after %llums",
mavlink_log_info(mavlink_fd, "MANUAL CONTROL REGAINED after %llums",
(hrt_absolute_time() - status.rc_signal_lost_timestamp) / 1000);
status_changed = true;
}
@ -1979,7 +1979,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)", hrt_absolute_time() / 1000);
mavlink_log_critical(mavlink_fd, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000);
status.rc_signal_lost = true;
status.rc_signal_lost_timestamp = sp_man.timestamp;
status_changed = true;