Commander: Do not emit status message if RC becomes available first time

src/modules/commander/commander.cpp

@@ -1226,7 +1226,8 @@ int commander_thread_main(int argc, char *argv[])
 		status.condition_system_sensors_initialized = false;
 		set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
 	} else {
-		status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
+		status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true,
+			checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
 		if (!status.condition_system_sensors_initialized) {
 			set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
 		}
@@ -1863,17 +1864,16 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* RC input check */
-		if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
-		    hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
+		if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
+		    (hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f))) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
 				status.rc_signal_found_once = true;
-				mavlink_log_info(mavlink_fd, "Detected radio control");
 				status_changed = true;
 
 			} else {
 				if (status.rc_signal_lost) {
-					mavlink_log_info(mavlink_fd, "RC SIGNAL REGAINED after %llums",
+					mavlink_log_info(mavlink_fd, "MANUAL CONTROL REGAINED after %llums",
 							     (hrt_absolute_time() - status.rc_signal_lost_timestamp) / 1000);
 					status_changed = true;
 				}
@@ -1979,7 +1979,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		} else {
 			if (!status.rc_signal_lost) {
-				mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)", hrt_absolute_time() / 1000);
+				mavlink_log_critical(mavlink_fd, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000);
 				status.rc_signal_lost = true;
 				status.rc_signal_lost_timestamp = sp_man.timestamp;
 				status_changed = true;