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commander: improve msg when trying to arm in air

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This commit is contained in:
Julian Oes
2019-10-29 08:18:30 +01:00
parent 77a896a0dd
commit 51ba80f33b
1 changed files with 6 additions and 2 deletions
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src/modules/commander/Commander.cpp
+6 -2
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -809,7 +809,11 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
if (!enforce_in_air && !land_detector.landed && !is_ground_rover(&status)) {
if (cmd_arms) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed");
if (armed_local->armed) {
mavlink_log_warning(&mavlink_log_pub, "Arming denied! Already armed");
} else {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed");
}
} else {
mavlink_log_critical(&mavlink_log_pub, "Disarming denied! Not landed");