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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-23 13:13:51 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-23 13:13:51 +0200 |
| commit | cc12e6051d1ae8100c035e935fe6dd1a453ce887 (patch) | |
| tree | e049bab4484346cf03befd459dc99afb1b2adc2e | |
| parent | 29715102894121f711fd40acfcf6ec8fb4fa6630 (diff) | |
| download | px4-firmware-cc12e6051d1ae8100c035e935fe6dd1a453ce887.tar.gz px4-firmware-cc12e6051d1ae8100c035e935fe6dd1a453ce887.tar.bz2 px4-firmware-cc12e6051d1ae8100c035e935fe6dd1a453ce887.zip | |
obc rcloss: set altitude
| -rw-r--r-- | src/modules/navigator/rcloss.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp index b8b659efe..427001a01 100644 --- a/src/modules/navigator/rcloss.cpp +++ b/src/modules/navigator/rcloss.cpp @@ -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: |