Warn on far waypoints

2014-08-01 23:42:26 +02:00 · 2014-08-01 23:42:26 +02:00 · 4d03202c4c
parent 3856ab8d2a
commit 4d03202c4c
1 changed files with 4 additions and 0 deletions
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@ -273,6 +273,10 @@ Mission::check_dist_1wp()

 						if (dist_to_1wp < _param_dist_1wp.get()) {
 							_dist_1wp_ok = true;
+							if (dist_to_1wp > ((_param_dist_1wp.get() * 3) / 2)) {
+								/* allow at 2/3 distance, but warn */
+								mavlink_log_critical(_navigator->get_mavlink_fd(), "Warning: First waypoint very far: %d m", (int)dist_to_1wp);
+							}
 							return true;

 						} else {