Send rangefinder target to GCS

ArduPilot · Jul 15, 2023 · 5ead0b7 · 5ead0b7
1 parent a02e999
commit 5ead0b7
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -144,6 +144,9 @@ bool GCS_MAVLINK_Sub::send_info()
     CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
     send_named_float("RollPitch", sub.roll_pitch_flag);
 
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("RFTarget", sub.surface_tracking.get_target_rangefinder_cm() / 100.0f);
+
     return true;
 }
 

diff --git a/ArduSub/surface_tracking.cpp b/ArduSub/surface_tracking.cpp
@@ -33,7 +33,7 @@ void Sub::SurfaceTracking::enable(bool _enabled)
 
     // let pilot know that we're waiting for a rangefinder reading
     if (enabled && !sub.rangefinder_alt_ok()) {
-        sub.gcs().send_text(MAV_SEVERITY_WARNING, "holding depth, waiting for a rangefinder reading");
+        sub.gcs().send_text(MAV_SEVERITY_INFO, "holding depth, waiting for a rangefinder reading");
     }
 }