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Commander: Better status feedback

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Lorenz Meier
2016-05-13 11:03:18 +02:00
parent f204a145c7
commit 8b41ddd224
1 changed files with 4 additions and 4 deletions
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src/modules/commander/commander.cpp
+4 -4
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@@ -1040,9 +1040,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
/* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, main_state_prev, &status_flags, &internal_state)) {
warnx("taking off!");
mavlink_and_console_log_info(&mavlink_log_pub, "Taking off");
} else {
warnx("takeoff denied");
mavlink_and_console_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
}
}
@@ -1051,9 +1051,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {
/* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
warnx("landing!");
mavlink_and_console_log_info(&mavlink_log_pub, "Landing at current position");
} else {
warnx("landing denied");
mavlink_and_console_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
}
}