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Improve feedback when auto mode is rejected due to a non suitable mission

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This commit is contained in:
Lorenz Meier
2015-06-11 17:03:13 +02:00
parent bc48634101
commit a66b1b9d04
4 changed files with 19 additions and 17 deletions
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src/modules/navigator/mission.cpp
+2 -2
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@@ -230,7 +230,7 @@ Mission::update_offboard_mission()
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid());
@@ -374,7 +374,7 @@ Mission::set_mission_items()
} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running");
mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
} else {