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replace fprintf(stderr with PX4_{INFO/WARN}

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This commit is contained in:
Beat Küng
2019-06-04 11:57:54 +02:00
committed by Julian Oes
parent d947818654
commit 08b8ee4831
4 changed files with 37 additions and 37 deletions
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src/drivers/mkblctrl/mkblctrl.cpp
+29 -30
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@@ -341,14 +341,14 @@ void
MK::set_rc_min_value(unsigned value)
{
_rc_min_value = value;
fprintf(stderr, "[mkblctrl] rc_min = %i\n", _rc_min_value);
PX4_INFO("rc_min = %i", _rc_min_value);
}
void
MK::set_rc_max_value(unsigned value)
{
_rc_max_value = value;
fprintf(stderr, "[mkblctrl] rc_max = %i\n", _rc_max_value);
PX4_INFO("rc_max = %i", _rc_max_value);
}
int
@@ -360,10 +360,10 @@ MK::set_motor_count(unsigned count)
if (_px4mode == MAPPING_MK) {
if (_frametype == FRAME_PLUS) {
fprintf(stderr, "[mkblctrl] Mikrokopter ESC addressing. Frame: +\n");
PX4_INFO("Mikrokopter ESC addressing. Frame: +");
} else if (_frametype == FRAME_X) {
fprintf(stderr, "[mkblctrl] Mikrokopter ESC addressing. Frame: X\n");
PX4_INFO("Mikrokopter ESC addressing. Frame: X");
}
if (_num_outputs == 4) {
@@ -392,18 +392,18 @@ MK::set_motor_count(unsigned count)
}
} else {
fprintf(stderr, "[mkblctrl] PX4 ESC addressing.\n");
PX4_INFO("PX4 ESC addressing.");
memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
}
if (_num_outputs == 4) {
fprintf(stderr, "[mkblctrl] 4 ESCs = Quadrocopter\n");
PX4_INFO("4 ESCs = Quadrocopter");
} else if (_num_outputs == 6) {
fprintf(stderr, "[mkblctrl] 6 ESCs = Hexacopter\n");
PX4_INFO("6 ESCs = Hexacopter");
} else if (_num_outputs == 8) {
fprintf(stderr, "[mkblctrl] 8 ESCs = Octocopter\n");
PX4_INFO("8 ESCs = Octocopter");
}
return OK;
@@ -726,11 +726,11 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
}
if (showOutput) {
fprintf(stderr, "[mkblctrl] MotorsFound: %i\n", foundMotorCount);
PX4_INFO("MotorsFound: %i", foundMotorCount);
for (unsigned i = 0; i < foundMotorCount; i++) {
fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,
Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
PX4_INFO("blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i", i,
Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
}
@@ -841,12 +841,12 @@ MK::mk_servo_set(unsigned int chan, short val)
for (unsigned int i = 0; i < _num_outputs; i++) {
if (Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version,
Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
PX4_INFO("#%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i", i, Motor[i].Version,
Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
}
}
fprintf(stderr, "\n");
PX4_INFO("\n");
}
}
@@ -868,13 +868,13 @@ MK::mk_servo_test(unsigned int chan)
_motor++;
if (_motor < _num_outputs) {
fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
PX4_INFO("Motortest - #%i:\tspinup", _motor);
}
if (_motor >= _num_outputs) {
_motor = -1;
_motortest = false;
fprintf(stderr, "[mkblctrl] Motortest finished...\n");
PX4_INFO("Motortest finished...");
}
}
@@ -938,7 +938,7 @@ MK::mk_servo_locate()
chan++;
if (chan <= _num_outputs) {
fprintf(stderr, "[mkblctrl] ESC Locate - #%i:\tgreen\n", chan);
PX4_INFO("ESC Locate - #%i:\tgreen", chan);
play_beep(chan);
}
@@ -1388,19 +1388,18 @@ mkblctrl_main(int argc, char *argv[])
}
if (showHelp) {
fprintf(stderr, "mkblctrl: help:\n");
fprintf(stderr, " [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n");
fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n");
fprintf(stderr,
"\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n");
fprintf(stderr, "\t -rcmin {pwn-value}\t\t Set RC_MIN Value.\n");
fprintf(stderr, "\t -rcmax {pwn-value}\t\t Set RC_MAX Value.\n");
fprintf(stderr, "\n");
fprintf(stderr, "Motortest:\n");
fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n");
fprintf(stderr, "mkblctrl -t\n");
fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n");
PX4_INFO("mkblctrl: help:");
PX4_INFO(" [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]");
PX4_INFO("\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.");
PX4_INFO("\t -d {devicepath & name}\t\t Create alternate pwm device.");
PX4_INFO("\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)");
PX4_INFO("\t -rcmin {pwn-value}\t\t Set RC_MIN Value.");
PX4_INFO("\t -rcmax {pwn-value}\t\t Set RC_MAX Value.");
PX4_INFO("\n");
PX4_INFO("Motortest:");
PX4_INFO("First you have to start mkblctrl, the you can enter Motortest Mode with:");
PX4_INFO("mkblctrl -t");
PX4_INFO("This will spin up once every motor in order of motoraddress. (DANGER !!!)");
exit(1);
}