From a210c96aa9b10d93e85aaf03bc3b9765092a954a Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 25 Jan 2023 11:55:16 +0100 Subject: [PATCH] Commander: ssimplify error messages for LOITER rejection Signed-off-by: Silvan Fuhrer --- src/modules/commander/Commander.cpp | 16 ++-------------- 1 file changed, 2 insertions(+), 14 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 6258e3f827..4def139c8d 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -702,14 +702,8 @@ Commander::handle_command(const vehicle_command_s &cmd) cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { + printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER); cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - mavlink_log_critical(&_mavlink_log_pub, "Reposition command rejected\t"); - /* EVENT - * @description Check for a valid position estimate - */ - events::send(events::ID("commander_reposition_rejected"), - {events::Log::Error, events::LogInternal::Info}, - "Reposition command rejected"); } } else { @@ -729,14 +723,8 @@ Commander::handle_command(const vehicle_command_s &cmd) cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { + printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER); cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - mavlink_log_critical(&_mavlink_log_pub, "Change altitude command rejected\t"); - /* EVENT - * @description Check for a valid position estimate - */ - events::send(events::ID("commander_change_altitude_rejected"), - {events::Log::Error, events::LogInternal::Info}, - "Change altitude command rejected"); } }