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Commit bc8dbe8a authored by Lorenz Meier's avatar Lorenz Meier
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Start emergency only once

parent 2eeb79f3
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src/uas/UAS.cc
View file @ bc8dbe8a
......@@ -467,7 +467,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
audiostring += modeAudio + stateAudio + navModeAudio;
}
if ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY)
if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
{
GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()));
QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
......
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