mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-14 02:41:36 +08:00
MAVLink app: Make debug messages a compile time check
The debug messages are too verbose to be run in a production vehicle and inherently were something that should only be run in SITL / debug sessions on hardware. Switching the flag to the PX4_DEBUG() macro does not only make this more explicit, but also saves a lot of flash space that otherwise was consumed by the strings.
This commit is contained in:
Lorenz Meier
committed by
Daniel Agar
Daniel Agar
parent
f1a3fd09a3
commit
6227139df1
@@ -68,7 +68,6 @@ uint16_t MavlinkMissionManager::_geofence_update_counter = 0;
|
||||
(_msg.target_component == MAV_COMP_ID_ALL)))
|
||||
|
||||
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
|
||||
_verbose(mavlink->verbose()),
|
||||
_mavlink(mavlink)
|
||||
{
|
||||
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
|
||||
@@ -194,7 +193,6 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
|
||||
_count[MAV_MISSION_TYPE_FENCE] = count;
|
||||
|
||||
} else {
|
||||
PX4_ERR("WPM: can't save mission state");
|
||||
|
||||
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
|
||||
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
|
||||
@@ -220,7 +218,6 @@ MavlinkMissionManager::update_safepoint_count(unsigned count)
|
||||
_count[MAV_MISSION_TYPE_RALLY] = count;
|
||||
|
||||
} else {
|
||||
PX4_ERR("WPM: can't save mission state");
|
||||
|
||||
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
|
||||
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
|
||||
@@ -244,7 +241,7 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
|
||||
|
||||
mavlink_msg_mission_ack_send_struct(_mavlink->get_channel(), &wpa);
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
|
||||
PX4_DEBUG("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system);
|
||||
}
|
||||
|
||||
|
||||
@@ -264,7 +261,7 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
|
||||
/* don't broadcast if no WPs */
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); }
|
||||
PX4_DEBUG("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq);
|
||||
|
||||
_mavlink->send_statustext_critical("ERROR: wp index out of bounds");
|
||||
}
|
||||
@@ -285,7 +282,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
|
||||
|
||||
mavlink_msg_mission_count_send_struct(_mavlink->get_channel(), &wpc);
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: Send MISSION_COUNT %u to ID %u, mission type=%i", wpc.count, wpc.target_system, mission_type); }
|
||||
PX4_DEBUG("WPM: Send MISSION_COUNT %u to ID %u, mission type=%i", wpc.count, wpc.target_system, mission_type);
|
||||
}
|
||||
|
||||
|
||||
@@ -356,9 +353,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
|
||||
|
||||
mavlink_msg_mission_item_int_send_struct(_mavlink->get_channel(), &wp);
|
||||
|
||||
if (_verbose) {
|
||||
PX4_INFO("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system);
|
||||
}
|
||||
PX4_DEBUG("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system);
|
||||
|
||||
} else {
|
||||
mavlink_mission_item_t wp;
|
||||
@@ -371,9 +366,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
|
||||
|
||||
mavlink_msg_mission_item_send_struct(_mavlink->get_channel(), &wp);
|
||||
|
||||
if (_verbose) {
|
||||
PX4_INFO("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system);
|
||||
}
|
||||
PX4_DEBUG("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system);
|
||||
}
|
||||
|
||||
} else {
|
||||
@@ -383,7 +376,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
|
||||
_mavlink->send_statustext_critical("Mission storage: Unable to read from microSD");
|
||||
}
|
||||
|
||||
if (_verbose) { PX4_ERR("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
|
||||
PX4_DEBUG("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -423,9 +416,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
|
||||
wpr.mission_type = _mission_type;
|
||||
mavlink_msg_mission_request_int_send_struct(_mavlink->get_channel(), &wpr);
|
||||
|
||||
if (_verbose) {
|
||||
PX4_INFO("WPM: Send MISSION_REQUEST_INT seq %u to ID %u", wpr.seq, wpr.target_system);
|
||||
}
|
||||
PX4_DEBUG("WPM: Send MISSION_REQUEST_INT seq %u to ID %u", wpr.seq, wpr.target_system);
|
||||
|
||||
} else {
|
||||
|
||||
@@ -437,15 +428,13 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
|
||||
|
||||
mavlink_msg_mission_request_send_struct(_mavlink->get_channel(), &wpr);
|
||||
|
||||
if (_verbose) {
|
||||
PX4_INFO("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system);
|
||||
}
|
||||
PX4_DEBUG("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system);
|
||||
}
|
||||
|
||||
} else {
|
||||
_mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity");
|
||||
|
||||
if (_verbose) { PX4_ERR("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); }
|
||||
PX4_DEBUG("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -459,7 +448,7 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
|
||||
|
||||
mavlink_msg_mission_item_reached_send_struct(_mavlink->get_channel(), &wp_reached);
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
|
||||
PX4_DEBUG("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq);
|
||||
}
|
||||
|
||||
|
||||
@@ -476,7 +465,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
|
||||
if (_current_seq != mission_result.seq_current) {
|
||||
_current_seq = mission_result.seq_current;
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: got mission result, new current_seq: %u", _current_seq); }
|
||||
PX4_DEBUG("WPM: got mission result, new current_seq: %u", _current_seq);
|
||||
}
|
||||
|
||||
if (_last_reached != mission_result.seq_reached) {
|
||||
@@ -487,7 +476,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
|
||||
send_mission_item_reached((uint16_t)mission_result.seq_reached);
|
||||
}
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: got mission result, new seq_reached: %d", _last_reached); }
|
||||
PX4_DEBUG("WPM: got mission result, new seq_reached: %d", _last_reached);
|
||||
}
|
||||
|
||||
send_mission_current(_current_seq);
|
||||
@@ -526,7 +515,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
|
||||
|
||||
} else {
|
||||
/* try to send item again after timeout */
|
||||
if (_verbose) { warnx("WPM: item re-send timeout"); }
|
||||
PX4_DEBUG("WPM: item re-send timeout");
|
||||
|
||||
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
|
||||
}
|
||||
@@ -536,7 +525,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
|
||||
|
||||
_mavlink->send_statustext_critical("Operation timeout");
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
|
||||
PX4_DEBUG("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state);
|
||||
|
||||
switch_to_idle_state();
|
||||
|
||||
@@ -609,12 +598,12 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
if (_transfer_seq == current_item_count()) {
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
|
||||
PX4_DEBUG("WPM: MISSION_ACK OK all items sent, switch to state IDLE");
|
||||
|
||||
} else {
|
||||
_mavlink->send_statustext_critical("WPM: ERR: not all items sent -> IDLE");
|
||||
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
|
||||
PX4_DEBUG("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway");
|
||||
}
|
||||
|
||||
switch_to_idle_state();
|
||||
@@ -633,9 +622,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
|
||||
} else {
|
||||
_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch");
|
||||
|
||||
if (_verbose) {
|
||||
PX4_INFO("WPM: MISSION_ACK ERR: ID mismatch");
|
||||
}
|
||||
PX4_DEBUG("WPM: MISSION_ACK ERR: ID mismatch");
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -653,22 +640,22 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
|
||||
|
||||
if (wpc.seq < _count[MAV_MISSION_TYPE_MISSION]) {
|
||||
if (update_active_mission(_dataman_id, _count[MAV_MISSION_TYPE_MISSION], wpc.seq) == PX4_OK) {
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
|
||||
PX4_DEBUG("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq);
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); }
|
||||
PX4_DEBUG("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq);
|
||||
|
||||
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID");
|
||||
}
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
|
||||
PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq);
|
||||
|
||||
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list");
|
||||
}
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_SET_CURRENT ERROR: busy"); }
|
||||
PX4_DEBUG("WPM: MISSION_SET_CURRENT ERROR: busy");
|
||||
|
||||
_mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy");
|
||||
}
|
||||
@@ -710,20 +697,16 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
|
||||
_transfer_partner_compid = msg->compid;
|
||||
|
||||
if (_transfer_count > 0) {
|
||||
if (_verbose) {
|
||||
PX4_INFO("WPM: MISSION_REQUEST_LIST OK, %u mission items to send, mission type=%i", _transfer_count, _mission_type);
|
||||
}
|
||||
PX4_DEBUG("WPM: MISSION_REQUEST_LIST OK, %u mission items to send, mission type=%i", _transfer_count, _mission_type);
|
||||
|
||||
} else {
|
||||
if (_verbose) {
|
||||
PX4_INFO("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty, mission type=%i", _mission_type);
|
||||
}
|
||||
PX4_DEBUG("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty, mission type=%i", _mission_type);
|
||||
}
|
||||
|
||||
send_mission_count(msg->sysid, msg->compid, _transfer_count, _mission_type);
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
|
||||
PX4_DEBUG("WPM: MISSION_REQUEST_LIST ERROR: busy");
|
||||
|
||||
_mavlink->send_statustext_critical("IGN REQUEST LIST: Busy");
|
||||
}
|
||||
@@ -774,22 +757,25 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
|
||||
|
||||
/* _transfer_seq contains sequence of expected request */
|
||||
if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) {
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u", wpr.seq, msg->sysid); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u", wpr.seq, msg->sysid);
|
||||
|
||||
_transfer_seq++;
|
||||
|
||||
} else if (wpr.seq == _transfer_seq - 1) {
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u (again)", wpr.seq, msg->sysid); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u (again)", wpr.seq, msg->sysid);
|
||||
|
||||
} else {
|
||||
if (_transfer_seq > 0 && _transfer_seq < _transfer_count) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid,
|
||||
_transfer_seq - 1, _transfer_seq);
|
||||
|
||||
} else if (_transfer_seq <= 0) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid,
|
||||
_transfer_seq);
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid,
|
||||
_transfer_seq - 1);
|
||||
}
|
||||
|
||||
switch_to_idle_state();
|
||||
@@ -804,7 +790,8 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
|
||||
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", wpr.seq, wpr.seq, current_item_count() - 1); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", wpr.seq, wpr.seq,
|
||||
current_item_count() - 1);
|
||||
|
||||
switch_to_idle_state();
|
||||
|
||||
@@ -813,13 +800,13 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
|
||||
}
|
||||
|
||||
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: no transfer"); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: no transfer");
|
||||
|
||||
// Silently ignore this as some OSDs have buggy mission protocol implementations
|
||||
//_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST(_INT): No active transfer");
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state);
|
||||
|
||||
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
|
||||
}
|
||||
@@ -827,7 +814,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
|
||||
} else {
|
||||
_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch");
|
||||
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: rejected, partner ID mismatch"); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: rejected, partner ID mismatch");
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -852,7 +839,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
|
||||
_mission_type = (MAV_MISSION_TYPE)wpc.mission_type;
|
||||
|
||||
if (wpc.count > current_max_item_count()) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count()); }
|
||||
PX4_DEBUG("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count());
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
|
||||
_transfer_in_progress = false;
|
||||
@@ -860,7 +847,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
|
||||
}
|
||||
|
||||
if (wpc.count == 0) {
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
|
||||
PX4_DEBUG("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE");
|
||||
|
||||
switch (_mission_type) {
|
||||
case MAV_MISSION_TYPE_MISSION:
|
||||
@@ -886,7 +873,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
|
||||
return;
|
||||
}
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
|
||||
PX4_DEBUG("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid);
|
||||
|
||||
_state = MAVLINK_WPM_STATE_GETLIST;
|
||||
_transfer_seq = 0;
|
||||
@@ -899,7 +886,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
|
||||
if (_mission_type == MAV_MISSION_TYPE_FENCE) {
|
||||
// We're about to write new geofence items, so take the lock. It will be released when
|
||||
// switching back to idle
|
||||
if (_verbose) { PX4_INFO("locking fence dataman items"); }
|
||||
PX4_DEBUG("locking fence dataman items");
|
||||
|
||||
int ret = dm_lock(DM_KEY_FENCE_POINTS);
|
||||
|
||||
@@ -916,17 +903,17 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
|
||||
|
||||
if (_transfer_seq == 0) {
|
||||
/* looks like our MISSION_REQUEST was lost, try again */
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
|
||||
PX4_DEBUG("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid);
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
|
||||
PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq);
|
||||
|
||||
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
|
||||
return;
|
||||
}
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
|
||||
PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, state %i", _state);
|
||||
|
||||
_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy");
|
||||
return;
|
||||
@@ -945,7 +932,7 @@ MavlinkMissionManager::switch_to_idle_state()
|
||||
dm_unlock(DM_KEY_FENCE_POINTS);
|
||||
_geofence_locked = false;
|
||||
|
||||
if (_verbose) { PX4_INFO("unlocking geofence"); }
|
||||
PX4_DEBUG("unlocking geofence");
|
||||
}
|
||||
|
||||
_state = MAVLINK_WPM_STATE_IDLE;
|
||||
@@ -995,20 +982,20 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
if (wp.seq != _transfer_seq) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq);
|
||||
|
||||
/* don't send request here, it will be performed in eventloop after timeout */
|
||||
return;
|
||||
}
|
||||
|
||||
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: no transfer"); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer");
|
||||
|
||||
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
|
||||
return;
|
||||
|
||||
} else {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM ERROR: busy, state %i", _state);
|
||||
|
||||
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
|
||||
return;
|
||||
@@ -1019,7 +1006,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
||||
int ret = parse_mavlink_mission_item(&wp, &mission_item);
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq);
|
||||
|
||||
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
|
||||
|
||||
@@ -1108,7 +1095,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
||||
}
|
||||
|
||||
if (write_failed || check_failed) {
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id);
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
|
||||
|
||||
@@ -1126,13 +1113,14 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
||||
_transfer_current_seq = wp.seq;
|
||||
}
|
||||
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_ITEM seq %u received", wp.seq); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM seq %u received", wp.seq);
|
||||
|
||||
_transfer_seq = wp.seq + 1;
|
||||
|
||||
if (_transfer_seq == _transfer_count) {
|
||||
/* got all new mission items successfully */
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
|
||||
PX4_DEBUG("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE",
|
||||
_transfer_count, _transfer_current_seq);
|
||||
|
||||
ret = 0;
|
||||
|
||||
@@ -1215,7 +1203,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
|
||||
}
|
||||
|
||||
if (ret == PX4_OK) {
|
||||
if (_verbose) { PX4_INFO("WPM: CLEAR_ALL OK (mission_type=%i)", _mission_type); }
|
||||
PX4_DEBUG("WPM: CLEAR_ALL OK (mission_type=%i)", _mission_type);
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
|
||||
|
||||
@@ -1226,7 +1214,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
|
||||
} else {
|
||||
_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy");
|
||||
|
||||
if (_verbose) { PX4_ERR("WPM: CLEAR_ALL IGNORED: busy"); }
|
||||
PX4_DEBUG("WPM: CLEAR_ALL IGNORED: busy");
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1363,9 +1351,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
|
||||
default:
|
||||
mission_item->nav_cmd = NAV_CMD_INVALID;
|
||||
|
||||
if (_verbose) {
|
||||
PX4_ERR("Unsupported command %d", mavlink_mission_item->command);
|
||||
}
|
||||
PX4_DEBUG("Unsupported command %d", mavlink_mission_item->command);
|
||||
|
||||
return MAV_MISSION_UNSUPPORTED;
|
||||
}
|
||||
@@ -1429,9 +1415,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
|
||||
default:
|
||||
mission_item->nav_cmd = NAV_CMD_INVALID;
|
||||
|
||||
if (_verbose) {
|
||||
PX4_ERR("Unsupported command %d", mavlink_mission_item->command);
|
||||
}
|
||||
PX4_DEBUG("Unsupported command %d", mavlink_mission_item->command);
|
||||
|
||||
return MAV_MISSION_UNSUPPORTED;
|
||||
}
|
||||
@@ -1439,9 +1423,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
|
||||
mission_item->frame = MAV_FRAME_MISSION;
|
||||
|
||||
} else {
|
||||
if (_verbose) {
|
||||
PX4_ERR("Unsupported frame %d", mavlink_mission_item->frame);
|
||||
}
|
||||
PX4_DEBUG("Unsupported frame %d", mavlink_mission_item->frame);
|
||||
|
||||
return MAV_MISSION_UNSUPPORTED_FRAME;
|
||||
}
|
||||
@@ -1610,7 +1592,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
|
||||
void MavlinkMissionManager::check_active_mission()
|
||||
{
|
||||
if (!(_my_dataman_id == _dataman_id)) {
|
||||
if (_verbose) { PX4_INFO("WPM: New mission detected (possibly over different Mavlink instance) Updating"); }
|
||||
PX4_DEBUG("WPM: New mission detected (possibly over different Mavlink instance) Updating");
|
||||
|
||||
_my_dataman_id = _dataman_id;
|
||||
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[MAV_MISSION_TYPE_MISSION],
|
||||
|
||||
Reference in New Issue
Block a user