From 1946f043f1a2fc3e01f6e53ddb1c59655be08bda Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Sun, 28 Oct 2018 16:48:53 +0100
Subject: [PATCH] mc_pos_control: print active flight task for 'mc_pos_control
status' cmd
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index ba80c87451..c220a0959d 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -95,6 +95,9 @@ public:
/** @see ModuleBase::run() */
void run() override;
+ /** @see ModuleBase::print_status() */
+ int print_status() override;
+
private:
bool _in_smooth_takeoff = false; /**<true if takeoff ramp is applied */
@@ -556,6 +559,17 @@ MulticopterPositionControl::set_vehicle_states(const float &vel_sp_z)
}
+int
+MulticopterPositionControl::print_status()
+{
+ if (_flight_tasks.isAnyTaskActive()) {
+ PX4_INFO("Running, active flight task: %i", _flight_tasks.getActiveTask());
+ } else {
+ PX4_INFO("Running, no flight task active");
+ }
+ return 0;
+}
+
void
MulticopterPositionControl::run()
{
--
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