From a1a0dd37dc11ca51476b5f9b9942d3952081d100 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 10 Jun 2017 14:49:03 +0200 Subject: [PATCH] Commander: Only report GPS lost errors if armed --- src/modules/commander/commander.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 29bf2860b4..ffe44831b8 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2457,7 +2457,9 @@ int commander_thread_main(int argc, char *argv[]) } else if (!status_flags.gps_failure) { status_flags.gps_failure = true; status_changed = true; - mavlink_log_critical(&mavlink_log_pub, "GPS fix lost"); + if (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + mavlink_log_critical(&mavlink_log_pub, "GPS fix lost"); + } } }