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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 { |