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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-20 12:17:15 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-20 12:17:15 +0200 |
| commit | db950f74893a108302a167729a91765269981e7b (patch) | |
| tree | cee9d6aab6ef0037c5186f1a15d5432c1d198ced /src/modules/commander/commander.cpp | |
| parent | de124619b6f64aafc10f1cdebef986a9e193b74b (diff) | |
| download | px4-firmware-db950f74893a108302a167729a91765269981e7b.tar.gz px4-firmware-db950f74893a108302a167729a91765269981e7b.tar.bz2 px4-firmware-db950f74893a108302a167729a91765269981e7b.zip | |
position_estimator_inav: "landed" detector implemented, bugfixes
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 50acec7e0..04e6dd2cb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -820,6 +820,17 @@ int commander_thread_main(int argc, char *argv[]) /* update condition_local_position_valid and condition_local_altitude_valid */ check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed); check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); + if (status.condition_local_altitude_valid) { + if (status.condition_landed != local_position.landed) { + status.condition_landed = local_position.landed; + status_changed = true; + if (status.condition_landed) { + mavlink_log_info(mavlink_fd, "[cmd] LANDED"); + } else { + mavlink_log_info(mavlink_fd, "[cmd] IN AIR"); + } + } + } /* update battery status */ orb_check(battery_sub, &updated); |