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Commander: Better user feedback for kill switch

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This commit is contained in:
Lorenz Meier
2016-03-06 12:48:28 +01:00
parent 351ab38179
commit 82a390c125
1 changed files with 7 additions and 0 deletions
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src/modules/commander/commander.cpp
+7
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@@ -2366,8 +2366,14 @@ int commander_thread_main(int argc, char *argv[])
/* check throttle kill switch */
if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* set lockdown flag */
if (!armed.lockdown) {
mavlink_log_emergency(mavlink_fd, "MANUAL KILL SWITCH ENGAGED");
}
armed.lockdown = true;
} else if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
if (armed.lockdown) {
mavlink_log_emergency(mavlink_fd, "MANUAL KILL SWITCH OFF");
}
armed.lockdown = false;
}
/* no else case: do not change lockdown flag in unconfigured case */
@@ -2888,6 +2894,7 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
/* RTL switch overrides main switch */
if (sp_man->return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
warnx("RTL switch changed and ON!");
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_AUTO_RTL);
if (res == TRANSITION_DENIED) {