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commander, navigator: failsafe fixes, mavlink messages cleanup

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This commit is contained in:
Anton Babushkin
2014-01-26 15:46:14 +01:00
parent c841929e3f
commit 9e9105048a
2 changed files with 32 additions and 47 deletions
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src/modules/navigator/navigator_main.cpp
+2 -6
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@@ -1072,7 +1072,6 @@ Navigator::start_mission()
{
_need_takeoff = true;
mavlink_log_info(_mavlink_fd, "[navigator] mission started");
set_mission_item();
}
@@ -1201,7 +1200,6 @@ Navigator::start_rtl()
}
_reset_loiter_pos = true;
mavlink_log_info(_mavlink_fd, "[navigator] RTL started");
set_rtl_item();
}
@@ -1222,8 +1220,6 @@ Navigator::start_land()
_pos_sp_triplet.current.loiter_direction = 1;
_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
_pos_sp_triplet.current.yaw = NAN;
mavlink_log_info(_mavlink_fd, "[navigator] land started");
}
void
@@ -1259,7 +1255,7 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm", climb_alt - _home_pos.alt);
mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
break;
}
@@ -1312,7 +1308,7 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm AMSL", _mission_item.altitude);
mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt);
break;
}