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mc_pos_control: print active flight task for 'mc_pos_control status' cmd

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This commit is contained in:
Beat Küng
2018-11-13 09:30:18 +01:00
parent e7e06dfe38
commit 1946f043f1
1 changed files with 14 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+14
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@@ -95,6 +95,9 @@ public:
/** @see ModuleBase::run() */ /** @see ModuleBase::run() */
void run() override; void run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
private: private:
bool _in_smooth_takeoff = false; /**<true if takeoff ramp is applied */ bool _in_smooth_takeoff = false; /**<true if takeoff ramp is applied */
@@ -556,6 +559,17 @@ MulticopterPositionControl::set_vehicle_states(const float &vel_sp_z)
} }
int
MulticopterPositionControl::print_status()
{
if (_flight_tasks.isAnyTaskActive()) {
PX4_INFO("Running, active flight task: %i", _flight_tasks.getActiveTask());
} else {
PX4_INFO("Running, no flight task active");
}
return 0;
}
void void
MulticopterPositionControl::run() MulticopterPositionControl::run()
{ {