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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-12 12:30:20 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-12 12:30:20 +0200 |
| commit | 017f82e2b808eefedb45971e6c416b6864055769 (patch) | |
| tree | b104f5f87b3554036c7d909e9eacb330c5da15b9 /src/modules/navigator/mission.cpp | |
| parent | f78ea38d982006389e83382a44baa672834acb6d (diff) | |
| parent | 3f4aef60c88b1e570dd30bc47a13d5340073e9a9 (diff) | |
| download | px4-firmware-017f82e2b808eefedb45971e6c416b6864055769.tar.gz px4-firmware-017f82e2b808eefedb45971e6c416b6864055769.tar.bz2 px4-firmware-017f82e2b808eefedb45971e6c416b6864055769.zip | |
Merge remote-tracking branch 'origin/master' into obcfailsafe
Diffstat (limited to 'src/modules/navigator/mission.cpp')
| -rw-r--r-- | src/modules/navigator/mission.cpp | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 6464eb8dd..c76192f66 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -271,6 +271,10 @@ Mission::check_dist_1wp() if (dist_to_1wp < _param_dist_1wp.get()) { _dist_1wp_ok = true; + if (dist_to_1wp > ((_param_dist_1wp.get() * 3) / 2)) { + /* allow at 2/3 distance, but warn */ + mavlink_log_critical(_navigator->get_mavlink_fd(), "Warning: First waypoint very far: %d m", (int)dist_to_1wp); + } return true; } else { |