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https://github.com/ArduPilot/ardupilot
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Copter: make LOITER_TIME send "Reached command" message to GCS
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@ -388,7 +388,7 @@ private:
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bool verify_land();
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bool verify_payload_place();
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bool verify_loiter_unlimited();
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bool verify_loiter_time();
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bool verify_loiter_time(const AP_Mission::Mission_Command& cmd);
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bool verify_loiter_to_alt();
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bool verify_RTL();
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bool verify_wait_delay();
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@ -629,7 +629,7 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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cmd_complete = verify_loiter_time();
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cmd_complete = verify_loiter_time(cmd);
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break;
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case MAV_CMD_NAV_LOITER_TO_ALT:
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@ -1656,7 +1656,7 @@ bool Copter::ModeAuto::verify_loiter_unlimited()
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}
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// verify_loiter_time - check if we have loitered long enough
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bool Copter::ModeAuto::verify_loiter_time()
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bool Copter::ModeAuto::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
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{
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// return immediately if we haven't reached our destination
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if (!copter.wp_nav->reached_wp_destination()) {
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@ -1669,7 +1669,12 @@ bool Copter::ModeAuto::verify_loiter_time()
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}
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// check if loiter timer has run out
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return (((millis() - loiter_time) / 1000) >= loiter_time_max);
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if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
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gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
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return true;
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}
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return false;
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}
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// verify_loiter_to_alt - check if we have reached both destination
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