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AP_Soaring: Report changes in active status.

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This commit is contained in:
Samuel Tabor 2019-08-18 16:19:15 +01:00 committed by Andrew Tridgell
parent e1f7122566
commit fbd0df81a7
1 changed files with 15 additions and 6 deletions
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21
libraries/AP_Soaring/AP_Soaring.cpp
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@ -371,12 +371,21 @@ SoaringController::ActiveStatus SoaringController::update_active_state()
bool state_changed = !(status == _last_update_status);
if (state_changed) {
if (status>=SOARING_STATUS_MANUAL_MODE_CHANGE) {
// It's enabled, but wasn't on the last loop.
set_throttle_suppressed(true);
} else {
// It's not enabled, but was enabled on the last loop.
set_throttle_suppressed(false);
switch (status) {
case SOARING_STATUS_DISABLED:
// It's not enabled, but was enabled on the last loop.
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Disabled.");
set_throttle_suppressed(false);
break;
case SOARING_STATUS_MANUAL_MODE_CHANGE:
// It's enabled, but wasn't on the last loop.
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Enabled, manual mode changes.");
set_throttle_suppressed(true);
break;
case SOARING_STATUS_AUTO_MODE_CHANGE:
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Enabled, automatic mode changes.");
set_throttle_suppressed(true);
break;
}
}