From 3e8d2fea941d53bb9c64c6748704a7de143dda4c Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 28 Mar 2022 12:07:29 +0200
Subject: [PATCH] FlightTaskOrbit: alert user about exceeded radius (events)

---
 src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
index 04d6666ee3..a6910c1917 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@@ -38,6 +38,7 @@
 #include "FlightTaskOrbit.hpp"
 
 #include <mathlib/mathlib.h>
+#include <px4_platform_common/events.h>
 #include <lib/geo/geo.h>
 
 using namespace matrix;
@@ -77,6 +78,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 		_orbit_velocity = new_velocity;
 
 	} else {
+		events::send(events::ID("orbit_radius_exceeded"), events::Log::Alert, "Orbit radius limit exceeded");
 		ret = false;
 	}