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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-16 18:07:21 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-16 18:07:21 +0200 |
commit | ab9b234893448237d84b4e1f95b807be3a68e98f (patch) | |
tree | 1e37f0c08d55c5b919769026453af40fbeb2f5f2 /src/modules/commander | |
parent | f480c10282efcb56b643b2c676303f1f57498fda (diff) | |
download | px4-firmware-ab9b234893448237d84b4e1f95b807be3a68e98f.tar.gz px4-firmware-ab9b234893448237d84b4e1f95b807be3a68e98f.tar.bz2 px4-firmware-ab9b234893448237d84b4e1f95b807be3a68e98f.zip |
commander: mavlink output on flight termination
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/commander.cpp | 3 |
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 } |