commander: fix potentially wrong user message

PX4 · May 19, 2021 · 033a0b9 · 033a0b9
1 parent c7215bc
commit 033a0b9
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -857,7 +857,13 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				const bool cmd_from_io = (static_cast<int>(roundf(cmd.param3)) == 1234);
 
 				if (cmd_from_manual_stick && !_vehicle_control_mode.flag_control_manual_enabled) {
-					mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first");
+					if (param1_arm == 1) {
+						mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first");
+
+					} else if (param1_arm == 0) {
+						mavlink_log_critical(&_mavlink_log_pub, "Not disarming! Switch to a manual mode first");
+					}
+
 					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 					break;
 				}