commander: mavlink output on flight termination

1 files changed, 2 insertions, 1 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 8a12e16ca..2ab40a5eb 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1313,9 +1313,10 @@ int commander_thread_main(int argc, char *argv[])
 			/* Check for geofence violation */
 			if (pos_sp_triplet.geofence_violated) {
 				//XXX: make this configurable to select different actions (e.g. navigation modes)
-				/* this will only trigger if geofence is activated via param and a geofence file is present */
+				/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
 				armed.force_failsafe = true;
 				status_changed = true;
+			mavlink_log_emergency(mavlink_fd, "Geofence violated: terminating");
 			} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
 		}