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Commander: Be less verbose

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Lorenz Meier
2015-11-22 12:43:58 +01:00
parent b4e64f4914
commit 65efee0d41
1 changed files with 30 additions and 28 deletions
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src/modules/commander/commander.cpp
+30 -28
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@@ -989,6 +989,9 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_disarm_land = param_find("COM_DISARM_LAND"); param_t _param_disarm_land = param_find("COM_DISARM_LAND");
param_t _param_map_mode_sw = param_find("RC_MAP_MODE_SW"); param_t _param_map_mode_sw = param_find("RC_MAP_MODE_SW");
// These are too verbose, but we will retain them a little longer
// until we are sure we really don't need them.
// const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX]; // const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
// main_states_str[vehicle_status_s::MAIN_STATE_MANUAL] = "MANUAL"; // main_states_str[vehicle_status_s::MAIN_STATE_MANUAL] = "MANUAL";
// main_states_str[vehicle_status_s::MAIN_STATE_ALTCTL] = "ALTCTL"; // main_states_str[vehicle_status_s::MAIN_STATE_ALTCTL] = "ALTCTL";
@@ -1000,34 +1003,34 @@ int commander_thread_main(int argc, char *argv[])
// main_states_str[vehicle_status_s::MAIN_STATE_STAB] = "STAB"; // main_states_str[vehicle_status_s::MAIN_STATE_STAB] = "STAB";
// main_states_str[vehicle_status_s::MAIN_STATE_OFFBOARD] = "OFFBOARD"; // main_states_str[vehicle_status_s::MAIN_STATE_OFFBOARD] = "OFFBOARD";
const char *arming_states_str[vehicle_status_s::ARMING_STATE_MAX]; // const char *arming_states_str[vehicle_status_s::ARMING_STATE_MAX];
arming_states_str[vehicle_status_s::ARMING_STATE_INIT] = "INIT"; // arming_states_str[vehicle_status_s::ARMING_STATE_INIT] = "INIT";
arming_states_str[vehicle_status_s::ARMING_STATE_STANDBY] = "STANDBY"; // arming_states_str[vehicle_status_s::ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[vehicle_status_s::ARMING_STATE_ARMED] = "ARMED"; // arming_states_str[vehicle_status_s::ARMING_STATE_ARMED] = "ARMED";
arming_states_str[vehicle_status_s::ARMING_STATE_ARMED_ERROR] = "ARMED_ERROR"; // arming_states_str[vehicle_status_s::ARMING_STATE_ARMED_ERROR] = "ARMED_ERROR";
arming_states_str[vehicle_status_s::ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR"; // arming_states_str[vehicle_status_s::ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR";
arming_states_str[vehicle_status_s::ARMING_STATE_REBOOT] = "REBOOT"; // arming_states_str[vehicle_status_s::ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE"; // arming_states_str[vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
const char *nav_states_str[vehicle_status_s::NAVIGATION_STATE_MAX]; // const char *nav_states_str[vehicle_status_s::NAVIGATION_STATE_MAX];
nav_states_str[vehicle_status_s::NAVIGATION_STATE_MANUAL] = "MANUAL"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_STAB] = "STAB"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_STAB] = "STAB";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_RATTITUDE] = "RATTITUDE"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_RATTITUDE] = "RATTITUDE";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_ALTCTL] = "ALTCTL"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_POSCTL] = "POSCTL"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_POSCTL] = "POSCTL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF] = "AUTO_TAKEOFF"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF] = "AUTO_TAKEOFF";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_ACRO] = "ACRO"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_LAND] = "LAND"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_DESCEND] = "DESCEND"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_DESCEND] = "DESCEND";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_TERMINATION] = "TERMINATION"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_TERMINATION] = "TERMINATION";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_OFFBOARD] = "OFFBOARD"; // nav_states_str[vehicle_status_s::NAVIGATION_STATE_OFFBOARD] = "OFFBOARD";
/* pthread for slow low prio thread */ /* pthread for slow low prio thread */
pthread_t commander_low_prio_thread; pthread_t commander_low_prio_thread;
@@ -2404,7 +2407,6 @@ int commander_thread_main(int argc, char *argv[])
/* print new state */ /* print new state */
if (arming_state_changed) { if (arming_state_changed) {
status_changed = true; status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]);
arming_state_changed = false; arming_state_changed = false;
} }