From 51ba80f33b78dddccfd842a99972c2927e680b7b Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 29 Oct 2019 08:18:30 +0100 Subject: [PATCH] commander: improve msg when trying to arm in air --- src/modules/commander/Commander.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index c3c9e36edc..3381f364c6 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2018 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2019 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -809,7 +809,11 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ if (!enforce_in_air && !land_detector.landed && !is_ground_rover(&status)) { if (cmd_arms) { - mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed"); + if (armed_local->armed) { + mavlink_log_warning(&mavlink_log_pub, "Arming denied! Already armed"); + } else { + mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed"); + } } else { mavlink_log_critical(&mavlink_log_pub, "Disarming denied! Not landed");