From b3afa6ddac8632beff6207f189a368101daf5ef9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 9 Nov 2018 08:26:19 +0100 Subject: [PATCH] mc_pos_control: fix task activation failure for Transition --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index a37da94612..0b50c5d7b4 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -848,6 +848,7 @@ MulticopterPositionControl::start_flight_task() bool should_disable_task = true; int prev_failure_count = _task_failure_count; + // Do not run any flight task for VTOLs in fixed-wing mode if (!_vehicle_status.is_rotary_wing) { _flight_tasks.switchTask(FlightTaskIndex::None); return; @@ -858,7 +859,9 @@ MulticopterPositionControl::start_flight_task() int error = _flight_tasks.switchTask(FlightTaskIndex::Transition); if (error != 0) { - PX4_WARN("Follow-Me activation failed with error: %s", _flight_tasks.errorToString(error)); + if (prev_failure_count == 0) { + PX4_WARN("Transition activation failed with error: %s", _flight_tasks.errorToString(error)); + } task_failure = true; _task_failure_count++;