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mavlink_log_info: always print to console and merge with mavlink_and_console_log_info

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This commit is contained in:
Daniel Agar
2020-05-11 11:27:33 -04:00
committed by Beat Küng
parent b933557f56
commit 05886e053f
19 changed files with 125 additions and 146 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+11 -11
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@@ -207,13 +207,13 @@ void BlockLocalPositionEstimator::Run()
s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
_sub_lidar == nullptr) {
_sub_lidar = s;
mavlink_and_console_log_info(&mavlink_log_pub, "%sDownward-facing Lidar detected with ID %zu", msg_label, i);
mavlink_log_info(&mavlink_log_pub, "%sDownward-facing Lidar detected with ID %zu", msg_label, i);
} else if (s->get().type == distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND &&
s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
_sub_sonar == nullptr) {
_sub_sonar = s;
mavlink_and_console_log_info(&mavlink_log_pub, "%sDownward-facing Sonar detected with ID %zu", msg_label, i);
mavlink_log_info(&mavlink_log_pub, "%sDownward-facing Sonar detected with ID %zu", msg_label, i);
}
}
}
@@ -346,8 +346,8 @@ void BlockLocalPositionEstimator::Run()
// set timestamp when origin was set to current time
_time_origin = _timeStamp;
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] global origin init (parameter) : lat %6.2f lon %6.2f alt %5.1f m",
double(_param_lpe_lat.get()), double(_param_lpe_lon.get()), double(_altOrigin));
mavlink_log_info(&mavlink_log_pub, "[lpe] global origin init (parameter) : lat %6.2f lon %6.2f alt %5.1f m",
double(_param_lpe_lat.get()), double(_param_lpe_lon.get()), double(_altOrigin));
}
// reinitialize x if necessary
@@ -359,7 +359,7 @@ void BlockLocalPositionEstimator::Run()
// don't want it to take too long
if (!PX4_ISFINITE(_x(i))) {
reinit_x = true;
mavlink_and_console_log_info(&mavlink_log_pub, "%sreinit x, x(%zu) not finite", msg_label, i);
mavlink_log_info(&mavlink_log_pub, "%sreinit x, x(%zu) not finite", msg_label, i);
break;
}
}
@@ -369,7 +369,7 @@ void BlockLocalPositionEstimator::Run()
_x(i) = 0;
}
mavlink_and_console_log_info(&mavlink_log_pub, "%sreinit x", msg_label);
mavlink_log_info(&mavlink_log_pub, "%sreinit x", msg_label);
}
// force P symmetry and reinitialize P if necessary
@@ -378,16 +378,16 @@ void BlockLocalPositionEstimator::Run()
for (size_t i = 0; i < n_x; i++) {
for (size_t j = 0; j <= i; j++) {
if (!PX4_ISFINITE(m_P(i, j))) {
mavlink_and_console_log_info(&mavlink_log_pub,
"%sreinit P (%zu, %zu) not finite", msg_label, i, j);
mavlink_log_info(&mavlink_log_pub,
"%sreinit P (%zu, %zu) not finite", msg_label, i, j);
reinit_P = true;
}
if (i == j) {
// make sure diagonal elements are positive
if (m_P(i, i) <= 0) {
mavlink_and_console_log_info(&mavlink_log_pub,
"%sreinit P (%zu, %zu) negative", msg_label, i, j);
mavlink_log_info(&mavlink_log_pub,
"%sreinit P (%zu, %zu) negative", msg_label, i, j);
reinit_P = true;
}
@@ -1006,7 +1006,7 @@ int BlockLocalPositionEstimator::getDelayPeriods(float delay, uint8_t *periods)
*periods = i_hist;
if (t_delay > DELAY_MAX) {
mavlink_and_console_log_info(&mavlink_log_pub, "%sdelayed data old: %8.4f", msg_label, double(t_delay));
mavlink_log_info(&mavlink_log_pub, "%sdelayed data old: %8.4f", msg_label, double(t_delay));
return -1;
}