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mc_pos_control: silence invalid setpoint warning when disarmed

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This commit is contained in:
Daniel Agar
2022-04-26 00:52:48 -04:00
parent b2bcd2631a
commit 3d7a6b4021
1 changed files with 2 additions and 6 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+2 -6
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@@ -474,7 +474,8 @@ void MulticopterPositionControl::Run()
} else {
// Failsafe
const bool warn_failsafe = (time_stamp_now - _last_warn) > 2_s;
// do not warn while we are disarmed, as we might not have valid setpoints yet
const bool warn_failsafe = ((time_stamp_now - _last_warn) > 2_s) && _vehicle_control_mode.flag_armed;
if (warn_failsafe) {
PX4_WARN("invalid setpoints");
@@ -538,11 +539,6 @@ void MulticopterPositionControl::Run()
void MulticopterPositionControl::failsafe(const hrt_abstime &now, vehicle_local_position_setpoint_s &setpoint,
const PositionControlStates &states, bool warn)
{
// do not warn while we are disarmed, as we might not have valid setpoints yet
if (!_vehicle_control_mode.flag_armed) {
warn = false;
}
// Only react after a short delay
_failsafe_land_hysteresis.set_state_and_update(true, now);