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navigator: switch to events

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This commit is contained in:
Beat Küng
2021-09-11 14:08:41 -04:00
committed by Daniel Agar
parent 5ac43e7236
commit 1f73294ad7
8 changed files with 224 additions and 62 deletions
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src/modules/navigator/enginefailure.cpp
+3 -1
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@@ -45,6 +45,7 @@
#include <systemlib/err.h>
#include <lib/geo/geo.h>
#include <navigator/navigation.h>
#include <px4_platform_common/events.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
@@ -128,7 +129,8 @@ EngineFailure::advance_ef()
{
switch (_ef_state) {
case EF_STATE_NONE:
mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "Engine failure. Loitering down");
mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "Engine failure. Loitering down\t");
events::send(events::ID("enginefailure_loitering"), events::Log::Emergency, "Engine failure. Loitering down");
_ef_state = EF_STATE_LOITERDOWN;
break;