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Commander: Only Warn the user about traffic avoidance system loss if COM_ARM_TRAFF is set

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2026-03-12 05:17:54 +01:00
committed by Claudio Chies
parent 90d781c2d6
commit 44c8997109
2 changed files with 4 additions and 2 deletions
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2
src/modules/commander/Commander.cpp
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@@ -2969,7 +2969,7 @@ void Commander::dataLinkCheck()
}
// Traffic avoidance system (ADSB/FLARM)
if ((hrt_elapsed_time(&_datalink_last_heartbeat_traffic_avoidance_system) > 5_s)
if ((_param_com_arm_traff.get() > 0) && (hrt_elapsed_time(&_datalink_last_heartbeat_traffic_avoidance_system) > 5_s)
&& !_traffic_avoidance_system_lost) {
mavlink_log_critical(&_mavlink_log_pub, "Traffic avoidance system lost\t");
events::send(events::ID("commander_traffic_avoidance_lost"), events::Log::Critical, "Traffic avoidance system lost");

4
src/modules/commander/Commander.hpp
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@@ -350,6 +350,8 @@ private:
(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_com_flight_uuid,
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_com_takeoff_act,
(ParamFloat<px4::params::COM_CPU_MAX>) _param_com_cpu_max,
(ParamBool<px4::params::COM_ARM_ON_BOOT>) _param_com_arm_on_boot
(ParamBool<px4::params::COM_ARM_ON_BOOT>) _param_com_arm_on_boot,
(ParamFloat<px4::params::COM_CPU_MAX>) _param_com_cpu_max,
(ParamInt<px4::params::COM_ARM_TRAFF>) _param_com_arm_traff
)
};