From 32131a069eeb77637a67e10011b4b756bf4d718a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 22 Sep 2014 09:44:38 +0200
Subject: [PATCH] inform in GCS when switching to laser

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index eb4ffdabb3..ddfbc233b0 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -814,7 +814,10 @@ float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint
 	/* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it
 	 * for the whole landing */
 	if (global_pos.terrain_alt_valid || land_useterrain) {
-		land_useterrain = true;
+		if(!land_useterrain) {
+			mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate");
+			land_useterrain = true;
+		}
 		return global_pos.terrain_alt;
 	} else {
 		return land_setpoint_alt;