FlightTaskOrbit: alert user about exceeded radius (mavlink_log)

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;
 	}

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(