From 466aa4b61888b780a5d8ab0de7d46f5efd3070e6 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 11 Jul 2022 18:41:21 +0200 Subject: [PATCH] Commander: add GPS valid info message if in flight Signed-off-by: Silvan Fuhrer --- src/modules/commander/Commander.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index fa0b8c4f46..c1c1ee2f78 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -4261,6 +4261,15 @@ void Commander::estimator_check() events::send(events::ID("commander_gps_lost"), {events::Log::Critical, events::LogInternal::Info}, "GPS no longer valid"); } + + } else if (!condition_gps_position_was_valid && _vehicle_status_flags.gps_position_valid) { + + // report GPS valid if flying and global position is (still) valid + if (!_vehicle_land_detected.landed && _vehicle_status_flags.global_position_valid) { + mavlink_log_warning(&_mavlink_log_pub, "GPS valid\t"); + events::send(events::ID("commander_gps_valid_in_flight"), {events::Log::Warning, events::LogInternal::Info}, + "GPS valid"); + } } }