Copter: make LOITER_TIME send "Reached command" message to GCS

This commit is contained in:
Arjun Vinod 2019-02-25 15:38:38 -05:00 committed by Randy Mackay
parent 8044d98382
commit d02d897928
2 changed files with 9 additions and 4 deletions

View File

@ -388,7 +388,7 @@ private:
bool verify_land();
bool verify_payload_place();
bool verify_loiter_unlimited();
bool verify_loiter_time();
bool verify_loiter_time(const AP_Mission::Mission_Command& cmd);
bool verify_loiter_to_alt();
bool verify_RTL();
bool verify_wait_delay();

View File

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