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mc_pos_control: fix task activation failure for Transition

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This commit is contained in:
Beat Küng
2018-11-13 09:30:18 +01:00
parent 330941c1fc
commit b3afa6ddac
1 changed files with 4 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -1
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@@ -848,6 +848,7 @@ MulticopterPositionControl::start_flight_task()
bool should_disable_task = true; bool should_disable_task = true;
int prev_failure_count = _task_failure_count; int prev_failure_count = _task_failure_count;
// Do not run any flight task for VTOLs in fixed-wing mode
if (!_vehicle_status.is_rotary_wing) { if (!_vehicle_status.is_rotary_wing) {
_flight_tasks.switchTask(FlightTaskIndex::None); _flight_tasks.switchTask(FlightTaskIndex::None);
return; return;
@@ -858,7 +859,9 @@ MulticopterPositionControl::start_flight_task()
int error = _flight_tasks.switchTask(FlightTaskIndex::Transition); int error = _flight_tasks.switchTask(FlightTaskIndex::Transition);
if (error != 0) { if (error != 0) {
PX4_WARN("Follow-Me activation failed with error: %s", _flight_tasks.errorToString(error)); if (prev_failure_count == 0) {
PX4_WARN("Transition activation failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true; task_failure = true;
_task_failure_count++; _task_failure_count++;