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fix(failsafe): drop warn failsafe notification, if more severe failsafe is active

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This commit is contained in:
Michael Fritsche
2026-05-04 13:18:39 +02:00
parent 307f707fad
commit 8c91d25eab
1 changed files with 2 additions and 2 deletions
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src/modules/commander/failsafe/framework.cpp
+2 -2
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@@ -89,8 +89,8 @@ uint8_t FailsafeBase::update(const hrt_abstime &time_us, const State &state, boo
updateStartDelay(time_us - _last_update, action_state.delayed_action != Action::None);
updateFailsafeDeferState(time_us, action_state.failsafe_deferred);
// Notify user if the action is worse than before, or a new action got added
if (action_state.action > _selected_action || (action_state.action != Action::None && _notification_required)) {
// Notify user if the action is worse than before, or a new warn action got added
if (action_state.action > _selected_action || (action_state.action == Action::Warn && _notification_required)) {
notifyUser(state.user_intended_mode, action_state.action, action_state.delayed_action, action_state.cause);
}