From d48302c84178119273b81ac8b10967739b7173cf Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 6 Oct 2021 15:17:37 +0200 Subject: [PATCH] Commander: send out manual control lost event --- src/modules/commander/Commander.cpp | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 661c7f1639..0a9573b5c5 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2368,14 +2368,15 @@ Commander::run() _last_valid_manual_control_setpoint = manual_control_setpoint.timestamp; } else { - if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost) { - if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) { - mavlink_log_critical(&_mavlink_log_pub, "Manual control lost"); - _status.rc_signal_lost = true; - set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, - false, _status); - _status_changed = true; - } + if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost + && !_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) { + mavlink_log_critical(&_mavlink_log_pub, "Manual control lost"); + events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info}, + "Manual control lost"); + _status.rc_signal_lost = true; + set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, + false, _status); + _status_changed = true; } }