From 1a743e111728179e5ce02b6d00862f8f6302fbe8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 9 Sep 2021 22:08:25 +0200
Subject: [PATCH] collision_prevention: switch to events

---
 src/lib/collision_prevention/CollisionPrevention.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
index 6a4cfb723c..d4e4273b69 100644
--- a/src/lib/collision_prevention/CollisionPrevention.cpp
+++ b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -38,6 +38,7 @@
  */
 
 #include "CollisionPrevention.hpp"
+#include <px4_platform_common/events.h>
 
 using namespace matrix;
 using namespace time_literals;
@@ -157,8 +158,10 @@ CollisionPrevention::_addObstacleSensorData(const obstacle_distance_s &obstacle,
 		}
 
 	} else {
-		mavlink_log_critical(&_mavlink_log_pub, "Obstacle message received in unsupported frame %.0f\n",
-				     (double)obstacle.frame);
+		mavlink_log_critical(&_mavlink_log_pub, "Obstacle message received in unsupported frame %i\t",
+				     obstacle.frame);
+		events::send<uint8_t>(events::ID("col_prev_unsup_frame"), events::Log::Error,
+				      "Obstacle message received in unsupported frame {1}", obstacle.frame);
 	}
 }