From 540ffa7861c0583ed6b13bfa1fdfab04193fd74b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 12 Jun 2015 14:02:47 +0200 Subject: [PATCH] Let user know we are loitering now --- src/modules/navigator/mission.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 1d47167a04..fe876ee8b1 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -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;