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SITL: emit hit-ground via mavlink

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This lets autotest look for it
This commit is contained in:
Peter Barker 2020-01-01 13:49:28 +11:00 committed by Peter Barker
parent 78b1b54bb7
commit 4cc7df8e15
1 changed files with 2 additions and 1 deletions
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3
libraries/SITL/SIM_Aircraft.cpp
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@ -29,6 +29,7 @@
#include <mmsystem.h> #include <mmsystem.h>
#endif #endif
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Declination/AP_Declination.h> #include <AP_Declination/AP_Declination.h>
@ -501,7 +502,7 @@ void Aircraft::update_dynamics(const Vector3f &rot_accel)
// constrain height to the ground // constrain height to the ground
if (on_ground()) { if (on_ground()) {
if (!was_on_ground && AP_HAL::millis() - last_ground_contact_ms > 1000) { if (!was_on_ground && AP_HAL::millis() - last_ground_contact_ms > 1000) {
printf("Hit ground at %f m/s\n", velocity_ef.z); gcs().send_text(MAV_SEVERITY_INFO, "Hit ground at %f m/s", velocity_ef.z);
last_ground_contact_ms = AP_HAL::millis(); last_ground_contact_ms = AP_HAL::millis();
} }
position.z = -(ground_level + frame_height - home.alt * 0.01f + ground_height_difference()); position.z = -(ground_level + frame_height - home.alt * 0.01f + ground_height_difference());