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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-01 23:42:26 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-01 23:42:26 +0200 |
| commit | 4d03202c4c8c322f9d93da0051dca015ab473cde (patch) | |
| tree | ebeb451b74ed97a3f7fc46baaccba46a4d6a22b6 /src/modules/navigator/mission.cpp | |
| parent | 3856ab8d2a562c503f2520fbc2aa9dc951f4b0a9 (diff) | |
| download | px4-firmware-4d03202c4c8c322f9d93da0051dca015ab473cde.tar.gz px4-firmware-4d03202c4c8c322f9d93da0051dca015ab473cde.tar.bz2 px4-firmware-4d03202c4c8c322f9d93da0051dca015ab473cde.zip | |
Warn on far waypoints
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 12f6b9c21..c0e37a3ed 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -273,6 +273,10 @@ 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 { |