From f01195c13f37eb708ba90434c897a4ff960f6ed1 Mon Sep 17 00:00:00 2001 From: daniele Date: Mon, 20 Apr 2020 09:47:04 +0200 Subject: [PATCH] make kill switch engaged a warning only if the vehicle is flying --- src/modules/commander/Commander.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index c20b2eac8f..4e308c6db1 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2035,7 +2035,13 @@ Commander::run() if (_manual_control_setpoint.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) { /* set lockdown flag */ if (!armed.manual_lockdown) { - mavlink_and_console_log_info(&mavlink_log_pub, "Manual kill-switch engaged"); + if (_land_detector.landed) { + mavlink_and_console_log_info(&mavlink_log_pub, "Manual kill-switch engaged"); + + } else { + mavlink_log_critical(&mavlink_log_pub, "Manual kill-switch engaged"); + } + _status_changed = true; armed.manual_lockdown = true; }