geofence: better usefeedback if loaded

src/modules/navigator/geofence.cpp

@@ -48,6 +48,7 @@
 #include <ctype.h>
 #include <nuttx/config.h>
 #include <unistd.h>
+#include <mavlink/mavlink_log.h>
 
 
 /* Oddly, ERROR is not defined for C++ */
@@ -66,7 +67,8 @@ Geofence::Geofence() :
 		_param_altitude_mode(this, "ALTMODE"),
 		_param_source(this, "SOURCE"),
 		_param_counter_threshold(this, "COUNT"),
-		_outside_counter(0)
+		_outside_counter(0),
+		_mavlinkFd(-1)
 {
 	/* Load initial params */
 	updateParams();
@@ -330,8 +332,10 @@ Geofence::loadFromFile(const char *filename)
 	{
 		_verticesCount = pointCounter;
 		warnx("Geofence: imported successfully");
+		mavlink_log_info(_mavlinkFd, "Geofence imported");
 	} else {
 		warnx("Geofence: import error");
+		mavlink_log_critical(_mavlinkFd, "#audio: Geofence import error");
 	}
 
 	return ERROR;

src/modules/navigator/geofence.h

@@ -98,6 +98,8 @@ public:
 
 	int getSource() { return _param_source.get(); }
 
+	void setMavlinkFd(int value) { _mavlinkFd = value; }
+
 private:
 	orb_advert_t	_fence_pub;			/**< publish fence topic */
 
@@ -114,6 +116,8 @@ private:
 
 	uint8_t			_outside_counter;
 
+	int _mavlinkFd;
+
 	bool inside(double lat, double lon, float altitude);
 	bool inside(const struct vehicle_global_position_s &global_position);
 	bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl);

src/modules/navigator/navigator_main.cpp

@@ -252,6 +252,7 @@ Navigator::task_main()
 	warnx("Initializing..");
 
 	_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+	_geofence.setMavlinkFd(_mavlink_fd);
 
 	/* Try to load the geofence:
 	 * if /fs/microsd/etc/geofence.txt load from this file
@@ -263,6 +264,7 @@ Navigator::task_main()
 		_geofence.loadFromFile(GEOFENCE_FILENAME);
 
 	} else {
+		mavlink_log_critical(_mavlink_fd, "#audio: No geofence file");
 		if (_geofence.clearDm() > 0)
 			warnx("Geofence cleared");
 		else