Commander: only add *autopilot disengaged* to failsafe notifactions i…

…n special cases

Signed-off-by: Silvan Fuhrer <[email protected]>

src/modules/commander/failsafe/framework.cpp

@@ -224,14 +224,24 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
  {events::Log::Warning, events::LogInternal::Warning},
  "Failsafe warning:", mavlink_mode);
 
+ } else if (action == Action::Descend || action == Action::FallbackAltCtrl || action == Action::FallbackStab) {
+ /* EVENT
+ * @description Failsafe actions that disengage the autopilot (remove position control)
+ * @type append_health_and_arming_messages
+ */
+ events::send<uint32_t, events::px4::enums::failsafe_action_t>(
+ events::ID("commander_failsafe_enter_autopilot_disengaged"),
+ {events::Log::Critical, events::LogInternal::Warning},
+ "Failsafe activated: Autopilot disengaged, switching to {2}", mavlink_mode, failsafe_action);
+
  } else {
  /* EVENT
  * @type append_health_and_arming_messages
  */
  events::send<uint32_t, events::px4::enums::failsafe_action_t>(
  events::ID("commander_failsafe_enter_generic"),
  {events::Log::Critical, events::LogInternal::Warning},
- "Failsafe activated: Autopilot disengaged, switching to {2}", mavlink_mode, failsafe_action);
+ "Failsafe activated: switching to {2}", mavlink_mode, failsafe_action);
  }
 
  } else {