dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

more consistent quadchute messages

This commit is contained in:
Thomas 2021-08-20 15:37:17 +02:00 committed by Daniel Agar
parent 2b1c97eb37
commit a260ea8233
2 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -203,7 +203,7 @@ void
VtolAttitudeControl::quadchute(const char *reason)
{
if (!_vtol_vehicle_status.vtol_transition_failsafe) {
mavlink_log_critical(&_mavlink_log_pub, "Abort: %s", reason);
mavlink_log_critical(&_mavlink_log_pub, "QuadChute: %s", reason);
_vtol_vehicle_status.vtol_transition_failsafe = true;
}
}

8
src/modules/vtol_att_control/vtol_type.cpp
View File

@ -235,7 +235,7 @@ void VtolType::check_quadchute_condition()
{
if (_attc->get_transition_command() == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC && _attc->get_immediate_transition()
&& !_quadchute_command_treated) {
_attc->quadchute("QuadChute by external command");
_attc->quadchute("External command");
_quadchute_command_treated = true;
_attc->reset_immediate_transition();
@ -256,7 +256,7 @@ void VtolType::check_quadchute_condition()
if (_params->fw_min_alt > FLT_EPSILON) {
if (-(_local_pos->z) < _params->fw_min_alt) {
_attc->quadchute("QuadChute: Minimum altitude breached");
_attc->quadchute("Minimum altitude breached");
}
}
@ -274,7 +274,7 @@ void VtolType::check_quadchute_condition()
(_ra_hrate < -1.0f) &&
(_ra_hrate_sp > 1.0f)) {
_attc->quadchute("QuadChute: loss of altitude");
_attc->quadchute("Loss of altitude");
}
} else {
@ -282,7 +282,7 @@ void VtolType::check_quadchute_condition()
const bool height_rate_error = _local_pos->v_z_valid && (_local_pos->vz > 1.0f) && (_local_pos->z_deriv > 1.0f);
if (height_error && height_rate_error) {
_attc->quadchute("QuadChute: large altitude error");
_attc->quadchute("Large altitude error");
}
}
}