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change message critical state for arm authorization

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This commit is contained in:
Quentin PERROT
2020-09-04 16:10:56 +02:00
committed by Beat Küng
parent c6e2722b8f
commit 9116acc431
1 changed files with 4 additions and 4 deletions
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src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+4 -4
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@@ -163,7 +163,7 @@ static uint8_t _auth_method_two_arm_check()
auth_timeout = now + (arm_parameters.struct_value.auth_method_param.auth_method_arm_timeout_msec * 1000);
state = ARM_AUTH_WAITING_AUTH;
mavlink_log_critical(mavlink_log_pub, "Arm auth: Requesting authorization...");
mavlink_log_info(mavlink_log_pub, "Arm auth: Requesting authorization...");
return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
}
@@ -222,9 +222,9 @@ void arm_auth_update(hrt_abstime now, bool param_update)
break;
case vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED:
mavlink_log_critical(mavlink_log_pub,
"Arm auth: Authorized for the next %u seconds",
command_ack.result_param2);
mavlink_log_info(mavlink_log_pub,
"Arm auth: Authorized for the next %u seconds",
command_ack.result_param2);
state = ARM_AUTH_MISSION_APPROVED;
auth_timeout = now + (command_ack.result_param2 * 1000000);
return;