From 4d03202c4c8c322f9d93da0051dca015ab473cde Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 1 Aug 2014 23:42:26 +0200 Subject: Warn on far waypoints --- src/modules/navigator/mission.cpp | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'src/modules/navigator/mission.cpp') 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 { -- cgit v1.2.3