From e31958cad12a2016f5995f2855f5efe4adc61423 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 27 Jan 2017 16:25:15 +0100 Subject: [PATCH] voted_sensors_update: don't report failover if previous index is invalid --- src/modules/sensors/voted_sensors_update.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index 58990119d5..cd8403e42a 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -872,8 +872,12 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n uint32_t flags = sensor.voter.failover_state(); if (flags == DataValidator::ERROR_FLAG_NO_ERROR) { - //we switched due to a non-critical reason. No need to panic. - PX4_INFO("%s sensor switch from #%i", sensor_name, sensor.voter.failover_index()); + int failover_index = sensor.voter.failover_index(); + + if (failover_index != -1) { + //we switched due to a non-critical reason. No need to panic. + PX4_INFO("%s sensor switch from #%i", sensor_name, failover_index); + } } else { mavlink_log_emergency(&_mavlink_log_pub, "%s #%i fail: %s%s%s%s%s!",