From 335b212f9238265c48a5d947819bc599af519a93 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 24 May 2015 11:43:18 +0200 Subject: [PATCH] commander: Better update logic, better feedback text for landings --- src/modules/commander/commander.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index f752a37b98..a9b2926d2a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1478,20 +1478,20 @@ int commander_thread_main(int argc, char *argv[]) /* Update land detector */ orb_check(land_detector_sub, &updated); - if(updated) { + if (updated) { orb_copy(ORB_ID(vehicle_land_detected), land_detector_sub, &land_detector); } - if (status.condition_local_altitude_valid) { + if (updated && status.condition_local_altitude_valid) { if (status.condition_landed != land_detector.landed) { status.condition_landed = land_detector.landed; status_changed = true; if (status.condition_landed) { - mavlink_log_critical(mavlink_fd, "LANDED MODE"); + mavlink_log_critical(mavlink_fd, "LANDING DETECTED"); } else { - mavlink_log_critical(mavlink_fd, "IN AIR MODE"); + mavlink_log_critical(mavlink_fd, "TAKEOFF DETECTED"); } } }