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Commander: only add *autopilot disengaged* to failsafe notifactions in special cases

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-08-16 11:04:37 +02:00
committed by Mathieu Bresciani
parent f7e6e1354a
commit 4a3cbecf01
1 changed files with 11 additions and 1 deletions
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src/modules/commander/failsafe/framework.cpp
+11 -1
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@@ -224,6 +224,16 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
{events::Log::Warning, events::LogInternal::Warning},
"Failsafe warning:", mavlink_mode);
} else if (action == Action::Descend || action == Action::FallbackAltCtrl || action == Action::FallbackStab) {
/* EVENT
* @description Failsafe actions that disengage the autopilot (remove position control)
* @type append_health_and_arming_messages
*/
events::send<uint32_t, events::px4::enums::failsafe_action_t>(
events::ID("commander_failsafe_enter_autopilot_disengaged"),
{events::Log::Critical, events::LogInternal::Warning},
"Failsafe activated: Autopilot disengaged, switching to {2}", mavlink_mode, failsafe_action);
} else {
/* EVENT
* @type append_health_and_arming_messages
@@ -231,7 +241,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
events::send<uint32_t, events::px4::enums::failsafe_action_t>(
events::ID("commander_failsafe_enter_generic"),
{events::Log::Critical, events::LogInternal::Warning},
"Failsafe activated: Autopilot disengaged, switching to {2}", mavlink_mode, failsafe_action);
"Failsafe activated: switching to {2}", mavlink_mode, failsafe_action);
}
} else {