From e3d6bad3fe28d60669f70ee5a3eca3fc940aefe8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 10 Apr 2016 10:37:03 -0700
Subject: [PATCH] Revert "report sensor init failure"
This reverts commit 407f467b456a393a891a936c79cc90e64e52fd45.
---
src/modules/commander/state_machine_helper.cpp | 7 +++----
1 file changed, 3 insertions(+), 4 deletions(-)
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index ed67b83191..ad76a830f5 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -149,8 +149,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
- /* report preflight_check failures continuously since they prevent normal operation */
- prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */, true /* force report */);
+ prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */);
status->condition_system_sensors_initialized = !prearm_ret;
last_preflight_check = hrt_absolute_time();
last_prearm_ret = prearm_ret;
@@ -277,7 +276,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
if ((!status->condition_system_prearm_error_reported &&
status->condition_system_hotplug_timeout) ||
(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
- mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not initialized");
+ mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors need inspection");
status->condition_system_prearm_error_reported = true;
}
feedback_provided = true;
@@ -308,7 +307,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
if (ret == TRANSITION_DENIED) {
/* print to MAVLink and console if we didn't provide any feedback yet */
if (!feedback_provided) {
- mavlink_and_console_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s -> %s", state_names[status->arming_state], state_names[new_arming_state]);
+ mavlink_and_console_log_critical(mavlink_log_pub, "INVAL: %s - %s", state_names[status->arming_state], state_names[new_arming_state]);
}
}
--
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