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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-05-11 09:37:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-05-11 09:37:42 +0200 |
| commit | b3ed0cf36b985771c50108016277f2148c8b000f (patch) | |
| tree | 90c3e90d2b10226f0204a2d3e153c4065fe24372 | |
| parent | a124bc07aa170b7ea03a901e480157631396d5cb (diff) | |
| download | px4-firmware-b3ed0cf36b985771c50108016277f2148c8b000f.tar.gz px4-firmware-b3ed0cf36b985771c50108016277f2148c8b000f.tar.bz2 px4-firmware-b3ed0cf36b985771c50108016277f2148c8b000f.zip | |
Navigator: be more verbose about RTL
| -rw-r--r-- | src/modules/navigator/rtl.cpp | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index c1ed8cb7c..b75b7fa22 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -103,6 +103,7 @@ RTL::on_activation() _mission_item.altitude_is_relative = false; _mission_item.altitude = _navigator->get_global_position()->alt; } + } set_rtl_item(); @@ -146,7 +147,8 @@ RTL::set_rtl_item() _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: climb to %d meters above home", + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: climb to %d m (%d m above home)", + (int)(climb_alt), (int)(climb_alt - _navigator->get_home_position()->alt)); break; } @@ -177,7 +179,8 @@ RTL::set_rtl_item() _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: return at %d meters above home", + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: return at %d m (%d m above home)", + (int)(_mission_item.altitude), (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } @@ -197,7 +200,8 @@ RTL::set_rtl_item() _mission_item.autocontinue = false; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: descend to %d meters above home", + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: descend to %d m (%d m above home)", + (int)(_mission_item.altitude), (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } |