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Commander: Better status feedback

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Lorenz Meier
2016-05-13 11:05:12 +02:00
parent d017514d59
commit 2cc613cf64
1 changed files with 4 additions and 4 deletions
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src/modules/commander/commander.cpp
+4 -4
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@@ -1041,9 +1041,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: { case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
/* ok, home set, use it to take off */ /* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, main_state_prev, &status_flags, &internal_state)) { if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, main_state_prev, &status_flags, &internal_state)) {
warnx("taking off!"); mavlink_and_console_log_info(&mavlink_log_pub, "Taking off");
} else { } else {
warnx("takeoff denied"); mavlink_and_console_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
} }
} }
@@ -1052,9 +1052,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_NAV_LAND: { case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {
/* ok, home set, use it to take off */ /* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) { if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
warnx("landing!"); mavlink_and_console_log_info(&mavlink_log_pub, "Landing at current position");
} else { } else {
warnx("landing denied"); mavlink_and_console_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
} }
} }