From 92549340acf09a7d559b5c4e5e0af308b6c93cc5 Mon Sep 17 00:00:00 2001 From: Mahima Yoga Date: Thu, 2 Jul 2026 10:55:15 +0200 Subject: [PATCH] feat(rallyPointCheck): allow arming when RTL_TYPE=5 and no rally point set (#27773) Warn user that rally point is missing. --- .../HealthAndArmingChecks/checks/rallyPointCheck.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rallyPointCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/rallyPointCheck.cpp index 2b2721bc13b..35f6554f37a 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/rallyPointCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/rallyPointCheck.cpp @@ -55,18 +55,19 @@ void RallyPointChecks::checkAndReport(const Context &context, Report &reporter) if (!_rtl_status_sub.copy(&rtl_status) || rtl_status.safe_point_index == UINT8_MAX) { /* EVENT * @description - * Upload at least one rally point before arming, or change RTL_TYPE. + * No rally point is configured. Return will fall back to the current position when RTL is triggered. + * Upload at least one rally point, or change RTL_TYPE to silence this warning. * * - * This check is active when RTL_TYPE is set to 5 (safe points only). + * This warning is active when RTL_TYPE is set to 5 (safe points only). * */ - reporter.armingCheckFailure(NavModes::All, health_component_t::system, + reporter.armingCheckFailure(NavModes::None, health_component_t::system, events::ID("check_rally_point_missing"), - events::Log::Error, "No rally point available"); + events::Log::Warning, "No rally point configured"); if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No rally point available\t"); + mavlink_log_warning(reporter.mavlink_log_pub(), "No rally point configured\t"); } } }