From 263b7ea009bb2d03f6821ab2e5439404b3257b25 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 6 Oct 2017 12:29:13 -0400 Subject: [PATCH] commander battery failsafe only error if TRANSITION_DENIED --- src/modules/commander/commander.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8f5f2adabb..4e49d9ab91 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -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");