From 21739c6937ff56de0422cebd671537231754fa4e Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Fri, 29 Oct 2021 10:42:07 +0200
Subject: [PATCH] MulticopterRateControl: Add event for landing gear retraction
 when landed

---
 src/modules/mc_rate_control/MulticopterRateControl.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index 8e45d98677..13dba90396 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -37,6 +37,7 @@
 #include <circuit_breaker/circuit_breaker.h>
 #include <mathlib/math/Limits.hpp>
 #include <mathlib/math/Functions.hpp>
+#include <px4_platform_common/events.h>
 
 using namespace matrix;
 using namespace time_literals;
@@ -155,7 +156,10 @@ MulticopterRateControl::Run()
 			if (_landing_gear_sub.copy(&landing_gear)) {
 				if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
 					if (landing_gear.landing_gear == landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
-						mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear")
+						mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear\t");
+						events::send(events::ID("mc_rate_control_not_retract_landing_gear_landed"),
+						{events::Log::Error, events::LogInternal::Info},
+						"Landed, unable to retract landing gear");
 
 					} else {
 						_landing_gear = landing_gear.landing_gear;