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obc rcloss: set altitude

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This commit is contained in:
Thomas Gubler 2014-08-23 13:13:51 +02:00
parent 2971510289
commit cc12e6051d
1 changed files with 3 additions and 2 deletions
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5
src/modules/navigator/rcloss.cpp
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@ -110,6 +110,7 @@ RCLoss::set_rcl_item()
case RCL_STATE_LOITER: {
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = _navigator->get_global_position()->alt;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
@ -127,7 +128,7 @@ RCLoss::set_rcl_item()
case RCL_STATE_TERMINATE: {
/* Request flight termination from the commander */
pos_sp_triplet->flight_termination = true;
warnx("gps fail: request flight termination");
warnx("rc not recovered: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
@ -152,7 +153,7 @@ RCLoss::advance_rcl()
case RCL_STATE_NONE:
/* Check the number of data link losses. If above home fly home directly */
warnx("RC loss, OBC mode, loiter");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc los, loitering");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, loitering");
_rcl_state = RCL_STATE_LOITER;
break;
case RCL_STATE_LOITER: