diff options
Diffstat (limited to 'src/modules/navigator/datalinkloss.cpp')
| -rw-r--r-- | src/modules/navigator/datalinkloss.cpp | 19 |
1 files changed, 11 insertions, 8 deletions
diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp index 6c5012bfd..2efca0a94 100644 --- a/src/modules/navigator/datalinkloss.cpp +++ b/src/modules/navigator/datalinkloss.cpp @@ -58,14 +58,14 @@ DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) : MissionBlock(navigator, name), _vehicleStatus(&getSubscriptions(), ORB_ID(vehicle_status), 100), - _param_commsholdwaittime(this, "NAV_DLL_CH_T", false), - _param_commsholdlat(this, "NAV_DLL_CH_LAT", false), - _param_commsholdlon(this, "NAV_DLL_CH_LON", false), - _param_commsholdalt(this, "NAV_DLL_CH_ALT", false), - _param_airfieldhomelat(this, "NAV_DLL_AH_LAT", false), - _param_airfieldhomelon(this, "NAV_DLL_AH_LON", false), - _param_airfieldhomealt(this, "NAV_DLL_AH_ALT", false), - _param_numberdatalinklosses(this, "NAV_DLL_N", false), + _param_commsholdwaittime(this, "CH_T"), + _param_commsholdlat(this, "CH_LAT"), + _param_commsholdlon(this, "CH_LON"), + _param_commsholdalt(this, "CH_ALT"), + _param_airfieldhomelat(this, "AH_LAT"), + _param_airfieldhomelon(this, "AH_LON"), + _param_airfieldhomealt(this, "AH_ALT"), + _param_numberdatalinklosses(this, "N"), _dll_state(DLL_STATE_NONE) { /* load initial params */ @@ -182,14 +182,17 @@ DataLinkLoss::advance_dll() updateSubscriptions(); if (_vehicleStatus.data_link_lost_counter > _param_numberdatalinklosses.get()) { warnx("too many data link losses, fly to airfield home"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to home"); _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; } else { warnx("fly to comms hold"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold"); _dll_state = DLL_STATE_FLYTOCOMMSHOLDWP; } break; case DLL_STATE_FLYTOCOMMSHOLDWP: warnx("fly to airfield home"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to home"); _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->publish_mission_result(); |