From 771d2ecf52746e9bc19ae78d0dedd2fbd46727fd Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Mon, 22 Sep 2025 19:17:07 -0800 Subject: [PATCH] ecl_info to printf --- .../range_finder/range_height_control.cpp | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp index a5b30676ac..1040bc5fa6 100644 --- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp @@ -133,7 +133,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample) updateRangeHagl(_aid_src_rng_hgt); if (!PX4_ISFINITE(_aid_src_rng_hgt.observation) || !PX4_ISFINITE(_aid_src_rng_hgt.observation_variance)) { - ECL_INFO("INFINIFY OBSERVATION INVALID"); + printf("INFINIFY OBSERVATION INVALID\n"); } // Fuse Range data as Primary height source @@ -166,13 +166,13 @@ void Ekf::fuseRangeAsHeightAiding() // Start fusion if (!_control_status.flags.rng_terrain) { - ECL_INFO("START RNG Terrain fusion"); + printf("START RNG Terrain fusion\n"); _control_status.flags.rng_terrain = true; // We must reset terrain to range before we start fusing again, otherwise there // can be a delta between RNG terrain estimate and previous, which will cause a // discontinuity in the lpos.z state - ECL_INFO("resetting terrain to range"); + printf("resetting terrain to range\n"); resetTerrainToRng(_aid_src_rng_hgt); resetAidSourceStatusZeroInnovation(_aid_src_rng_hgt); } @@ -193,19 +193,19 @@ void Ekf::fuseRangeAsHeightAiding() if (do_range_aid) { if (!_control_status.flags.rng_hgt) { - ECL_INFO("START RNG Altitude fusion"); + printf("START RNG Altitude fusion\n"); _control_status.flags.rng_hgt = true; // Reset altitude to rangefinder if on ground if (!_control_status.flags.in_air) { - ECL_INFO("GND resetting altitude to range"); + printf("GND resetting altitude to range\n"); resetAltitudeTo(_aid_src_rng_hgt.observation - _state.terrain); } // TODO: review for correctness if (_aid_src_rng_hgt.innovation_rejected) { // Reset aid source - ECL_INFO("resetting aid source"); + printf("resetting aid source\n"); resetAidSourceStatusZeroInnovation(_aid_src_rng_hgt); } } @@ -239,7 +239,7 @@ void Ekf::fuseRangeAsHeightSource() // Cannot have terrain estimate fusion while RANGE is primary stopRangeTerrainFusion("Cannot have terrain estimate fusion while RANGE is primary"); - ECL_INFO("initializing range as primary"); + printf("initializing range as primary\n"); _state.terrain = 0.f; // TODO: needed? It's set above in --> resetAidSourceStatusZeroInnovation() @@ -249,7 +249,7 @@ void Ekf::fuseRangeAsHeightSource() // TODO: // When RNG is primary height source if (isHeightResetRequired() && _control_status.flags.rng_hgt && (_height_sensor_ref == HeightSensor::RANGE)) { - ECL_INFO("RNG height fusion reset required, all height sources failing"); + printf("RNG height fusion reset required, all height sources failing\n"); uint64_t timestamp = _aid_src_rng_hgt.timestamp; _information_events.flags.reset_hgt_to_rng = true; @@ -258,7 +258,7 @@ void Ekf::fuseRangeAsHeightSource() // reset vertical velocity if no valid sources available if (!isVerticalVelocityAidingActive()) { - ECL_INFO("resetting vertical velocity"); + printf("resetting vertical velocity\n"); resetVerticalVelocityToZero(); } @@ -282,7 +282,7 @@ bool Ekf::rangeAidConditionsPassed() if (conditions_met) { if (!_rng_aid_conditions_valid) { // Conditions just became valid - ECL_INFO("RNG AID conditions valid"); + printf("RNG AID conditions valid\n"); _rng_aid_conditions_valid = true; _time_rng_aid_conditions_valid = _time_latest_us; } @@ -298,15 +298,15 @@ bool Ekf::rangeAidConditionsPassed() _rng_aid_conditions_valid = false; // if (!is_hagl_stable) { - // ECL_INFO("!is_hagl_stable"); + // printf("!is_hagl_stable\n"); // } // if (is_horizontal_aiding_active && !is_below_max_speed) { if (!is_below_max_speed) { - ECL_INFO("!is_below_max_speed"); + printf("!is_below_max_speed\n"); } if (!is_in_range) { - ECL_INFO("!is_in_range"); + printf("!is_in_range\n"); } } } @@ -384,7 +384,7 @@ float Ekf::getRngVar() const void Ekf::stopRangeAltitudeFusion(const char *reason) { if (_control_status.flags.rng_hgt) { - ECL_INFO("STOP RNG Altitude fusion: %s", reason); + printf("STOP RNG Altitude fusion: %s\n", reason); _control_status.flags.rng_hgt = false; if (_height_sensor_ref == HeightSensor::RANGE) { @@ -396,7 +396,7 @@ void Ekf::stopRangeAltitudeFusion(const char *reason) void Ekf::stopRangeTerrainFusion(const char *reason) { if (_control_status.flags.rng_terrain) { - ECL_INFO("STOP RNG Terrain fusion: %s", reason); + printf("STOP RNG Terrain fusion: %s\n", reason); _control_status.flags.rng_terrain = false; } }