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px4-firmware
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Navigator: be more verbose about RTL

This commit is contained in:
Lorenz Meier 2015-05-11 09:37:42 +02:00
parent a124bc07aa
commit b3ed0cf36b
1 changed files with 7 additions and 3 deletions
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10
src/modules/navigator/rtl.cpp
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@ -103,6 +103,7 @@ RTL::on_activation()
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
}
set_rtl_item();
@ -146,7 +147,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: climb to %d meters above home",
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: climb to %d m (%d m above home)",
(int)(climb_alt),
(int)(climb_alt - _navigator->get_home_position()->alt));
break;
}
@ -177,7 +179,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: return at %d meters above home",
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: return at %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
}
@ -197,7 +200,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: descend to %d meters above home",
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: descend to %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
}