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Commander: send out manual control lost event

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent 93bed7f670
commit d48302c841
1 changed files with 9 additions and 8 deletions
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src/modules/commander/Commander.cpp
+9 -8
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@@ -2368,14 +2368,15 @@ Commander::run()
_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
} else {
if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost) {
if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) {
mavlink_log_critical(&_mavlink_log_pub, "Manual control lost");
_status.rc_signal_lost = true;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true,
false, _status);
_status_changed = true;
}
if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost
&& !_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) {
mavlink_log_critical(&_mavlink_log_pub, "Manual control lost");
events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
"Manual control lost");
_status.rc_signal_lost = true;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true,
false, _status);
_status_changed = true;
}
}