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Let user know we are loitering now

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Lorenz Meier
2015-06-12 14:02:47 +02:00
parent cc33e4caf8
commit 540ffa7861
1 changed files with 4 additions and 2 deletions
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src/modules/navigator/mission.cpp
+4 -2
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@@ -390,7 +390,8 @@ Mission::set_mission_items()
} else {
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished");
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
@@ -398,8 +399,9 @@ Mission::set_mission_items()
} else if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
*/
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available");
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
}
_mission_type = MISSION_TYPE_NONE;