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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
2020-05-12 08:53:51 +02:00
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/sensors/sonar.cpp
+5 -5
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@@ -26,11 +26,11 @@ void BlockLocalPositionEstimator::sonarInit()
// if finished
if (_sonarStats.getCount() > REQ_SONAR_INIT_COUNT) {
if (_sonarStats.getStdDev()(0) > SONAR_MAX_INIT_STD) {
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar init std > min");
mavlink_log_info(&mavlink_log_pub, "[lpe] sonar init std > min");
_sonarStats.reset();
} else if ((_timeStamp - _time_init_sonar) > SONAR_TIMEOUT) {
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar init timeout ");
mavlink_log_info(&mavlink_log_pub, "[lpe] sonar init timeout ");
_sonarStats.reset();
} else {
@@ -124,7 +124,7 @@ void BlockLocalPositionEstimator::sonarCorrect()
if (beta > BETA_TABLE[n_y_sonar]) {
if (!(_sensorFault & SENSOR_SONAR)) {
_sensorFault |= SENSOR_SONAR;
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar fault, beta %5.2f", double(beta));
mavlink_log_info(&mavlink_log_pub, "[lpe] sonar fault, beta %5.2f", double(beta));
}
// abort correction
@@ -132,7 +132,7 @@ void BlockLocalPositionEstimator::sonarCorrect()
} else if (_sensorFault & SENSOR_SONAR) {
_sensorFault &= ~SENSOR_SONAR;
//mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar OK");
//mavlink_log_info(&mavlink_log_pub, "[lpe] sonar OK");
}
// kalman filter correction if no fault
@@ -151,7 +151,7 @@ void BlockLocalPositionEstimator::sonarCheckTimeout()
if (!(_sensorTimeout & SENSOR_SONAR)) {
_sensorTimeout |= SENSOR_SONAR;
_sonarStats.reset();
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar timeout ");
mavlink_log_info(&mavlink_log_pub, "[lpe] sonar timeout ");
}
}
}