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commander: switch to events

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This commit is contained in:
Beat Küng
2021-05-07 15:42:09 +02:00
committed by Daniel Agar
parent 8866215d1d
commit 5ac43e7236
8 changed files with 625 additions and 168 deletions
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src/modules/commander/rc_calibration.cpp
+9 -3
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@@ -36,6 +36,7 @@
* Remote Control calibration routine
*/
#include <px4_platform_common/events.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>
#include <px4_platform_common/defines.h>
@@ -57,7 +58,9 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
bool changed = manual_control_setpoint_sub.updated();
if (!changed) {
mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
mavlink_log_critical(mavlink_log_pub, "no inputs, aborting\t");
events::send(events::ID("commander_cal_no_inputs"), {events::Log::Error, events::LogInternal::Info},
"No inputs, aborting RC trim calibration");
return PX4_ERROR;
}
@@ -94,11 +97,14 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
int p3r = param_set(param_find("TRIM_YAW"), &p);
if (p1r != 0 || p2r != 0 || p3r != 0) {
mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL");
mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL\t");
events::send(events::ID("commander_cal_trim_param_set_failed"), events::Log::Critical,
"RC trim calibration: failed to set parameters");
return PX4_ERROR;
}
mavlink_log_info(mavlink_log_pub, "trim cal done");
mavlink_log_info(mavlink_log_pub, "trim cal done\t");
events::send(events::ID("commander_cal_trim_done"), events::Log::Info, "RC trim calibration completed");
return PX4_OK;
}