AP_Gripper: correct emitting of grabbed/released messages

these strigs would only be released if release() or grab were called a second time
lthall · Jun 20, 2024 · 56a7e52 · 56a7e52
1 parent 3630e77
commit 56a7e52
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
@@ -104,8 +104,10 @@ void AP_Gripper_Servo::update_gripper()
     // Check for successful grabbed or released
     if (config.state == AP_Gripper::STATE_GRABBING && has_state_pwm(config.grab_pwm)) {
         config.state = AP_Gripper::STATE_GRABBED;
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbed");
     } else if (config.state == AP_Gripper::STATE_RELEASING && has_state_pwm(config.release_pwm)) {
         config.state = AP_Gripper::STATE_RELEASED;
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load released");
     }
 }