diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index aa4e643dc..dfab9d4d6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1285,6 +1285,13 @@ int commander_thread_main(int argc, char *argv[]) if (res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION"); + } + + } else if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING"); } } @@ -1295,15 +1302,25 @@ int commander_thread_main(int argc, char *argv[]) if (!status.condition_landed) { /* vehicle is not landed, try to perform RTL */ res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: RETURN TO LAND"); + } } if (res == TRANSITION_DENIED) { /* RTL not allowed (no global position estimate) or not wanted, try LAND */ res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING"); + } + if (res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + } else if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION"); } } } |