Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 19:07:45 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

Navigator: be more verbose about RTL

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl.cpp
+7 -3
View File
@@ -103,6 +103,7 @@ RTL::on_activation()
_mission_item.altitude_is_relative = false; _mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt; _mission_item.altitude = _navigator->get_global_position()->alt;
} }
} }
set_rtl_item(); set_rtl_item();
@@ -146,7 +147,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true; _mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD; _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)); (int)(climb_alt - _navigator->get_home_position()->alt));
break; break;
} }
@@ -177,7 +179,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true; _mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD; _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)); (int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break; break;
} }
@@ -197,7 +200,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = false; _mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD; _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)); (int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break; break;
} }