From 5984e3d330f5f63a3765642e06ab522d11f55fdb Mon Sep 17 00:00:00 2001 From: Martina Date: Fri, 16 Jun 2017 11:05:19 +0200 Subject: [PATCH] mission: clean up mavlink log messages style --- src/modules/navigator/mission.cpp | 35 ++++++++++++++++--------------- 1 file changed, 18 insertions(+), 17 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 2796d544c6..c190a8bb8d 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -439,7 +439,7 @@ Mission::set_mission_items() /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_ONBOARD) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing internal mission"); + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing internal mission."); user_feedback_done = true; } @@ -450,7 +450,7 @@ Mission::set_mission_items() } else if (prepare_mission_items(false, &_mission_item, &mission_item_next_position, &has_next_position_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing mission"); + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing mission."); user_feedback_done = true; } @@ -461,11 +461,11 @@ Mission::set_mission_items() if (_mission_type != MISSION_TYPE_NONE) { if (_navigator->get_land_detected()->landed) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), "mission finished, landed"); + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Mission finished, landed."); } else { /* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */ - mavlink_log_info(_navigator->get_mavlink_log_pub(), "mission finished, loitering"); + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Mission finished, loitering."); /* use last setpoint for loiter */ _navigator->set_can_loiter_at_sp(true); @@ -497,10 +497,10 @@ Mission::set_mission_items() if (_navigator->get_land_detected()->landed) { /* landed, refusing to take off without a mission */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, refusing takeoff"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, refusing takeoff."); } else { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, loitering"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, loitering."); } user_feedback_done = true; @@ -541,7 +541,7 @@ Mission::set_mission_items() float takeoff_alt = calculate_takeoff_altitude(&_mission_item); - mavlink_log_info(_navigator->get_mavlink_log_pub(), "Takeoff to %.1f meters above home", + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Takeoff to %.1f meters above home.", (double)(takeoff_alt - _navigator->get_home_position()->alt)); _mission_item.nav_cmd = NAV_CMD_TAKEOFF; @@ -1158,7 +1158,7 @@ Mission::do_abort_landing() _navigator->set_position_setpoint_triplet_updated(); - mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %dm above landing)", (int)(alt_sp - alt_landing)); + mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %dm above landing.", (int)(alt_sp - alt_landing)); // move mission index back 1 (landing approach point) so that re-entering // the mission doesn't try to land from the loiter above land @@ -1226,7 +1226,8 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { /* mission item index out of bounds - if they are equal, we just reached the end */ if (*mission_index_ptr != (int)mission->count) { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission item index out of bound, index: %d, max: %d.", + *mission_index_ptr, (int)mission->count); } @@ -1241,7 +1242,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss /* read mission item from datamanager */ if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR waypoint could not be read"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Waypoint could not be read."); return false; } @@ -1261,7 +1262,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR DO JUMP waypoint could not be written"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP waypoint could not be written."); return false; } @@ -1274,7 +1275,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss } else { if (offset == 0) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed"); + mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed."); } /* no more DO_JUMPS, therefore just try to continue with next mission item */ @@ -1289,7 +1290,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss } /* we have given up, we don't want to cycle forever */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR DO JUMP is cycling, giving up"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP is cycling, giving up."); return false; } @@ -1313,7 +1314,7 @@ Mission::save_offboard_mission_state() sizeof(mission_s)) != sizeof(mission_s)) { warnx("ERROR: can't save mission state"); - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Can't save mission state."); } } } @@ -1325,14 +1326,14 @@ Mission::save_offboard_mission_state() mission_state.current_seq = _current_offboard_mission_index; warnx("ERROR: invalid mission state"); - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: invalid mission state"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Invalid mission state."); /* write modified state only if changed */ if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) { warnx("ERROR: can't save mission state"); - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Can't save mission state."); } } @@ -1427,7 +1428,7 @@ Mission::reset_offboard_mission(struct mission_s &mission) } } else { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission"); + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Could not read mission."); /* initialize mission state in dataman */ mission.dataman_id = 0;