From ad534561d3714c134288d59c1685e62e461abb7f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 26 May 2021 13:35:06 -0400 Subject: [PATCH] commander: only play safety change tunes if initialized --- src/modules/commander/Commander.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index c19caa1af9..f0e040f749 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1875,6 +1875,7 @@ Commander::run() const bool safety_updated = _safety_sub.updated(); if (safety_updated) { + const bool previous_safety_valid = (_safety.timestamp != 0); const bool previous_safety_off = _safety.safety_off; if (_safety_sub.copy(&_safety)) { @@ -1899,7 +1900,7 @@ Commander::run() } // Notify the user if the status of the safety switch changes - if (_safety.safety_switch_available && previous_safety_off != _safety.safety_off) { + if (previous_safety_valid && _safety.safety_switch_available && previous_safety_off != _safety.safety_off) { if (_safety.safety_off) { set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);