commander: Better reporting and convenience for commander

src/modules/commander/commander.cpp

@@ -811,10 +811,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				if (arming_ret == TRANSITION_DENIED) {
 					mavlink_log_critical(&mavlink_log_pub, "Rejecting arming cmd");
 				}
-
-				if (main_ret == TRANSITION_DENIED) {
-					mavlink_log_critical(&mavlink_log_pub, "Rejecting mode switch cmd");
-				}
 			}
 		}
 		break;
@@ -1959,7 +1955,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		if ((updated && status_flags.condition_local_altitude_valid) || check_for_disarming) {
 			if (was_landed != land_detector.landed) {
-				if (land_detector.landed) {
+				if (land_detector.landed && armed.armed) {
 					mavlink_and_console_log_info(&mavlink_log_pub, "LANDING DETECTED");
 				} else {
 					mavlink_and_console_log_info(&mavlink_log_pub, "TAKEOFF DETECTED");
@@ -2391,7 +2387,9 @@ int commander_thread_main(int argc, char *argv[])
 					if ((internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL)
 						&& (internal_state.main_state != commander_state_s::MAIN_STATE_ACRO)
 						&& (internal_state.main_state != commander_state_s::MAIN_STATE_STAB)
-						&& (internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL)) {
+						&& (internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL)
+						&& (internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL)
+						) {
 						print_reject_arm("NOT ARMING: Switch to a manual mode first.");
 
 					} else if (!status_flags.condition_home_position_valid &&
@@ -2413,7 +2411,7 @@ int commander_thread_main(int argc, char *argv[])
 							arming_state_changed = true;
 						} else {
 							usleep(100000);
-							print_reject_arm("NOT ARMING: Configuration error");
+							print_reject_arm("NOT ARMING: Preflight checks failed");
 						}
 					}
 					stick_on_counter = 0;