From 7cd57b44152e2d1a799fec76f63a62e9f7b298a9 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 28 Mar 2022 13:58:00 +0200
Subject: [PATCH] FlightTaskOrbit: alert user about exceeded radius
 (mavlink_log)

---
 src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp | 2 ++
 src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp | 1 +
 2 files changed, 3 insertions(+)

diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
index a6910c1917..013e14b700 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@@ -37,6 +37,7 @@
 
 #include "FlightTaskOrbit.hpp"
 
+#include <lib/systemlib/mavlink_log.h>
 #include <mathlib/mathlib.h>
 #include <px4_platform_common/events.h>
 #include <lib/geo/geo.h>
@@ -78,6 +79,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 		_orbit_velocity = new_velocity;
 
 	} else {
+		mavlink_log_critical(&_mavlink_log_pub, "Orbit radius limit exceeded\t");
 		events::send(events::ID("orbit_radius_exceeded"), events::Log::Alert, "Orbit radius limit exceeded");
 		ret = false;
 	}
diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
index d1e7f63a48..9f555c6079 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
@@ -128,6 +128,7 @@ private:
 	float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */
 	SlewRateYaw<float> _slew_rate_yaw;
 
+	orb_advert_t _mavlink_log_pub{nullptr};
 	uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
 
 	DEFINE_PARAMETERS(