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Updated commander to take free-fall into account

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Added free-fall status in vehicle_status topic
This commit is contained in:
Emmanuel Roussel
2016-01-28 13:26:49 +01:00
committed by Roman
parent 98d51179ad
commit 776c7f5d60
3 changed files with 8 additions and 5 deletions
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src/modules/commander/commander.cpp
+6 -3
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@@ -1119,6 +1119,7 @@ int commander_thread_main(int argc, char *argv[])
bool sensor_fail_tune_played = false;
bool arm_tune_played = false;
bool was_landed = true;
bool was_falling = false;
bool was_armed = false;
bool startup_in_hil = false;
@@ -1918,10 +1919,11 @@ int commander_thread_main(int argc, char *argv[])
}
if ((updated && status_flags.condition_local_altitude_valid) || check_for_disarming) {
if (was_landed != land_detector.landed) {
if (land_detector.landed) {
if ((was_landed != land_detector.landed) || (was_falling != land_detector.freefall)) {
if (land_detector.freefall) {
mavlink_and_console_log_info(&mavlink_log_pub, "FREEFALL DETECTED");
} else if (land_detector.landed) {
mavlink_and_console_log_info(&mavlink_log_pub, "LANDING DETECTED");
} else {
mavlink_and_console_log_info(&mavlink_log_pub, "TAKEOFF DETECTED");
}
@@ -2623,6 +2625,7 @@ int commander_thread_main(int argc, char *argv[])
}
was_landed = land_detector.landed;
was_falling = land_detector.freefall;
was_armed = armed.armed;
/* print new state */