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updated some message severities and clarified reset in pos controller

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This commit is contained in:
Andreas Antener
2016-02-02 19:54:44 +01:00
parent e2328fcd72
commit 26c635359e
2 changed files with 4 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
View File
@@ -908,9 +908,10 @@ MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, f
void MulticopterPositionControl::control_auto(float dt)
{
/* reset position setpoint on AUTO mode activation or when reentering MC mode */
if (!_mode_auto || _vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
_mode_auto = true;
/* reset position setpoint on AUTO mode activation */
if (_vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
_reset_pos_sp = true;
_reset_alt_sp = true;
src/modules/navigator/mission.cpp
+2 -2
View File
@@ -432,7 +432,7 @@ Mission::set_mission_items()
float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
mavlink_log_info(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat;
@@ -875,7 +875,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
} else {
if (offset == 0) {
mavlink_log_critical(_navigator->get_mavlink_fd(),
mavlink_log_info(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
}
/* no more DO_JUMPS, therefore just try to continue with next mission item */