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navigator: Get rid of audio tag in strings and use appropriate priority to get audio out when needed in the GCS

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Lorenz Meier
2015-04-14 13:25:49 +02:00
parent eda19ee5a1
commit 4b34221614
9 changed files with 30 additions and 30 deletions
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src/modules/navigator/datalinkloss.cpp
+5 -5
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@@ -186,7 +186,7 @@ DataLinkLoss::advance_dll()
if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
warnx("%d data link losses, limit is %d, fly to airfield home",
_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
mavlink_log_critical(_navigator->get_mavlink_fd(), "too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
@@ -194,19 +194,19 @@ DataLinkLoss::advance_dll()
} else {
if (!_param_skipcommshold.get()) {
warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold");
mavlink_log_critical(_navigator->get_mavlink_fd(), "fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
} else {
/* comms hold wp not active, fly to airfield home directly */
warnx("Skipping comms hold wp. Flying directly to airfield home");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped");
mavlink_log_critical(_navigator->get_mavlink_fd(), "fly to airfield home, comms hold skipped");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
}
}
break;
case DLL_STATE_FLYTOCOMMSHOLDWP:
warnx("fly to airfield home");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home");
mavlink_log_critical(_navigator->get_mavlink_fd(), "fly to airfield home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
@@ -215,7 +215,7 @@ DataLinkLoss::advance_dll()
case DLL_STATE_FLYTOAIRFIELDHOMEWP:
_dll_state = DLL_STATE_TERMINATE;
warnx("time is up, state should have been changed manually by now");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
mavlink_log_critical(_navigator->get_mavlink_fd(), "no manual control, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
reset_mission_item_reached();