From 56a7e520b672d8878ba0ea6377f47b00c906a80b Mon Sep 17 00:00:00 2001 From: Peter Barker <pbarker@barker.dropbear.id.au> Date: Thu, 20 Jun 2024 09:56:43 +1000 Subject: [PATCH] AP_Gripper: correct emitting of grabbed/released messages these strigs would only be released if release() or grab were called a second time --- libraries/AP_Gripper/AP_Gripper_Servo.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp index a2d1389772..9e2ad8956a 100644 --- a/libraries/AP_Gripper/AP_Gripper_Servo.cpp +++ b/libraries/AP_Gripper/AP_Gripper_Servo.cpp @@ -104,8 +104,10 @@ void AP_Gripper_Servo::update_gripper() // Check for successful grabbed or released if (config.state == AP_Gripper::STATE_GRABBING && has_state_pwm(config.grab_pwm)) { config.state = AP_Gripper::STATE_GRABBED; + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbed"); } else if (config.state == AP_Gripper::STATE_RELEASING && has_state_pwm(config.release_pwm)) { config.state = AP_Gripper::STATE_RELEASED; + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load released"); } }