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commander: Better update logic, better feedback text for landings

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Lorenz Meier
2015-05-24 11:43:18 +02:00
parent 5b6f1b5ca5
commit 335b212f92
1 changed files with 4 additions and 4 deletions
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src/modules/commander/commander.cpp
+4 -4
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@@ -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");
}
}
}