From e92795b47431b1850c0d22f6af77f9c75e3c3347 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sun, 25 Oct 2020 10:04:28 +0100 Subject: [PATCH] Temporary logging addition to debug CI --- msg/vehicle_constraints.msg | 2 ++ src/modules/flight_mode_manager/FlightModeManager.cpp | 1 + 2 files changed, 3 insertions(+) diff --git a/msg/vehicle_constraints.msg b/msg/vehicle_constraints.msg index 5c598a4659..fabfce997e 100644 --- a/msg/vehicle_constraints.msg +++ b/msg/vehicle_constraints.msg @@ -13,3 +13,5 @@ float32 max_distance_to_ground # in meters bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air float32 minimum_thrust # tell controller what the minimum collective output thrust should be + +uint32 flight_task diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp index 66be8ac5f1..9999daee46 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.cpp +++ b/src/modules/flight_mode_manager/FlightModeManager.cpp @@ -485,6 +485,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt, _time_stamp_last_loop); constraints.speed_up = _takeoff.updateRamp(dt, constraints.speed_up); + constraints.flight_task = _flight_tasks.getActiveTask(); _vehicle_constraints_pub.publish(constraints); if (not_taken_off) {