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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/navigator/mission.cpp
+2 -2
View File
@@ -1468,8 +1468,8 @@ Mission::do_abort_landing()
mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current);
_navigator->set_position_setpoint_triplet_updated();
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing.",
(int)(alt_sp - alt_landing));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing.",
(int)(alt_sp - alt_landing));
// reset mission index to start of landing
if (_land_start_available) {
src/modules/navigator/navigator_main.cpp
+6 -6
View File
@@ -550,10 +550,10 @@ Navigator::run()
case RTL::RTL_CLOSEST:
if (rtl_activated) {
if (rtl_type() == RTL::RTL_LAND) {
mavlink_and_console_log_info(get_mavlink_log_pub(), "RTL LAND activated");
mavlink_log_info(get_mavlink_log_pub(), "RTL LAND activated");
} else {
mavlink_and_console_log_info(get_mavlink_log_pub(), "RTL Closest landing point activated");
mavlink_log_info(get_mavlink_log_pub(), "RTL Closest landing point activated");
}
}
@@ -588,7 +588,7 @@ Navigator::run()
}
if (rtl_activated) {
mavlink_and_console_log_info(get_mavlink_log_pub(), "RTL Mission activated, continue mission");
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, continue mission");
}
navigation_mode_new = &_mission;
@@ -610,14 +610,14 @@ Navigator::run()
}
if (rtl_activated) {
mavlink_and_console_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly mission in reverse");
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly mission in reverse");
}
navigation_mode_new = &_mission;
} else {
if (rtl_activated) {
mavlink_and_console_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly to home");
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly to home");
}
navigation_mode_new = &_rtl;
@@ -628,7 +628,7 @@ Navigator::run()
default:
if (rtl_activated) {
mavlink_and_console_log_info(get_mavlink_log_pub(), "RTL HOME activated");
mavlink_log_info(get_mavlink_log_pub(), "RTL HOME activated");
}
navigation_mode_new = &_rtl;
src/modules/navigator/rtl.cpp
+14 -14
View File
@@ -180,15 +180,15 @@ RTL::on_activation()
// output the correct message, depending on where the RTL destination is
switch (_destination.type) {
case RTL_DESTINATION_HOME:
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at home position.");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at home position.");
break;
case RTL_DESTINATION_MISSION_LANDING:
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at mission landing.");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at mission landing.");
break;
case RTL_DESTINATION_SAFE_POINT:
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at safe landing point.");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at safe landing point.");
break;
}
@@ -241,7 +241,7 @@ RTL::set_rtl_item()
if (_destination.type == RTL_DESTINATION_MISSION_LANDING) {
if (_rtl_state > RTL_STATE_CLIMB) {
if (_navigator->start_mission_landing()) {
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: using mission landing");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: using mission landing");
return;
} else {
@@ -277,8 +277,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above destination)",
(int)ceilf(_rtl_alt), (int)ceilf(_rtl_alt - _destination.alt));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above destination)",
(int)ceilf(_rtl_alt), (int)ceilf(_rtl_alt - _destination.alt));
break;
}
@@ -306,8 +306,8 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above destination)",
(int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above destination)",
(int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt));
break;
}
@@ -342,8 +342,8 @@ RTL::set_rtl_item()
// Disable previous setpoint to prevent drift.
pos_sp_triplet->previous.valid = false;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above destination)",
(int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above destination)",
(int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt));
break;
}
@@ -366,12 +366,12 @@ RTL::set_rtl_item()
if (autoland && (get_time_inside(_mission_item) > FLT_EPSILON)) {
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs",
(double)get_time_inside(_mission_item));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs",
(double)get_time_inside(_mission_item));
} else {
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loitering");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loitering");
}
break;
@@ -390,7 +390,7 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at destination");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at destination");
break;
}