diff options
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/commander.cpp | 5 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 1 |
2 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ec173c12b..deb048566 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1544,7 +1544,7 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC signal regained"); + mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums (at t=%llums)",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000,hrt_absolute_time()/1000); status_changed = true; } } @@ -1645,8 +1645,9 @@ int commander_thread_main(int argc, char *argv[]) } else { if (!status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST"); + mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000); status.rc_signal_lost = true; + status.rc_signal_lost_timestamp=sp_man.timestamp; status_changed = true; } } diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 91491c148..8ec9d98d6 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -201,6 +201,7 @@ struct vehicle_status_s { bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */ bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_input_blocked; /**< set if RC input should be ignored */ |