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commander battery failsafe only error if TRANSITION_DENIED

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Daniel Agar 2017-10-06 12:29:13 -04:00 committed by Lorenz Meier
parent 80dd87536e
commit 263b7ea009
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/commander.cpp
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@ -2305,7 +2305,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (low_bat_action == 1 || low_bat_action == 3) {
// let us send the critical message even if already in RTL
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
if (TRANSITION_DENIED != main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
warning_action_on = true;
mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
@ -2314,7 +2314,7 @@ int commander_thread_main(int argc, char *argv[])
}
} else if (low_bat_action == 2) {
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
if (TRANSITION_DENIED != main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
warning_action_on = true;
mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");