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FlightTaskOrbit: alert user about exceeded radius (mavlink_log)

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Matthias Grob
2022-03-29 18:46:37 +02:00
parent 3e8d2fea94
commit 7cd57b4415
2 changed files with 3 additions and 0 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+2
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@@ -37,6 +37,7 @@
#include "FlightTaskOrbit.hpp" #include "FlightTaskOrbit.hpp"
#include <lib/systemlib/mavlink_log.h>
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <px4_platform_common/events.h> #include <px4_platform_common/events.h>
#include <lib/geo/geo.h> #include <lib/geo/geo.h>
@@ -78,6 +79,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
_orbit_velocity = new_velocity; _orbit_velocity = new_velocity;
} else { } 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"); events::send(events::ID("orbit_radius_exceeded"), events::Log::Alert, "Orbit radius limit exceeded");
ret = false; ret = false;
} }
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
+1
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@@ -128,6 +128,7 @@ private:
float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */ float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */
SlewRateYaw<float> _slew_rate_yaw; SlewRateYaw<float> _slew_rate_yaw;
orb_advert_t _mavlink_log_pub{nullptr};
uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)}; uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
DEFINE_PARAMETERS( DEFINE_PARAMETERS(