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FlightTaskOrbit: alert user about exceeded radius (events)

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Matthias Grob
2022-03-29 18:46:37 +02:00
parent 8ad44ee128
commit 3e8d2fea94
1 changed files with 2 additions and 0 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
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@@ -38,6 +38,7 @@
#include "FlightTaskOrbit.hpp" #include "FlightTaskOrbit.hpp"
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <px4_platform_common/events.h>
#include <lib/geo/geo.h> #include <lib/geo/geo.h>
using namespace matrix; using namespace matrix;
@@ -77,6 +78,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
_orbit_velocity = new_velocity; _orbit_velocity = new_velocity;
} else { } else {
events::send(events::ID("orbit_radius_exceeded"), events::Log::Alert, "Orbit radius limit exceeded");
ret = false; ret = false;
} }