diff options
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); |