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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/rtl.cpp
+14 -14
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@@ -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;
}