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

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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
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2
ArduCopter/mode.h
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@ -388,7 +388,7 @@ private:
bool verify_land(); bool verify_land();
bool verify_payload_place(); bool verify_payload_place();
bool verify_loiter_unlimited(); 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_loiter_to_alt();
bool verify_RTL(); bool verify_RTL();
bool verify_wait_delay(); bool verify_wait_delay();

11
ArduCopter/mode_auto.cpp
View File

@ -629,7 +629,7 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
break; break;
case MAV_CMD_NAV_LOITER_TIME: case MAV_CMD_NAV_LOITER_TIME:
cmd_complete = verify_loiter_time(); cmd_complete = verify_loiter_time(cmd);
break; break;
case MAV_CMD_NAV_LOITER_TO_ALT: 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 // 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 // return immediately if we haven't reached our destination
if (!copter.wp_nav->reached_wp_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 // 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 // verify_loiter_to_alt - check if we have reached both destination