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FW PositionController: remove mavlink_log_pub, and only use events

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-24 09:52:01 +01:00
parent bd176241f8
commit 79c55614d8
6 changed files with 6 additions and 34 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -16
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@@ -149,7 +149,6 @@ FixedwingPositionControl::parameters_update()
// sanity check parameters
if (_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed max smaller than min\t");
/* EVENT
* @description
* - <param>FW_AIRSPD_MAX</param>: {1:.1}
@@ -162,7 +161,6 @@ FixedwingPositionControl::parameters_update()
}
if (_param_fw_airspd_max.get() < 5.0f || _param_fw_airspd_min.get() > 100.0f) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed max < 5 m/s or min > 100 m/s\t");
/* EVENT
* @description
* - <param>FW_AIRSPD_MAX</param>: {1:.1}
@@ -176,7 +174,6 @@ FixedwingPositionControl::parameters_update()
if (_param_fw_airspd_trim.get() < _param_fw_airspd_min.get() ||
_param_fw_airspd_trim.get() > _param_fw_airspd_max.get()) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed trim out of min or max bounds\t");
/* EVENT
* @description
* - <param>FW_AIRSPD_MAX</param>: {1:.1}
@@ -191,7 +188,6 @@ FixedwingPositionControl::parameters_update()
}
if (_param_fw_airspd_stall.get() > _param_fw_airspd_min.get()) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: FW_AIRSPD_STALL airspeed higher than FW_AIRSPD_MIN\t");
/* EVENT
* @description
* - <param>FW_AIRSPD_MIN</param>: {1:.1}
@@ -626,28 +622,24 @@ FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_statu
switch (new_abort_status) {
case (position_controller_landing_status_s::ABORTED_BY_OPERATOR): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted by operator\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_operator_abort"), events::Log::Critical,
"Landing aborted by operator");
break;
}
case (position_controller_landing_status_s::TERRAIN_NOT_FOUND): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate not found\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_not_found"), events::Log::Critical,
"Landing aborted: terrain measurement not found");
break;
}
case (position_controller_landing_status_s::TERRAIN_TIMEOUT): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate timed out\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_timeout"), events::Log::Critical,
"Landing aborted: terrain estimate timed out");
break;
}
default: {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: unknown criterion\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_unknown_criterion"), events::Log::Critical,
"Landing aborted: unknown criterion");
}
@@ -813,7 +805,6 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
&& !_vehicle_status.in_transition_mode) {
if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE) {
// Need to init because last loop iteration was in a different mode
mavlink_log_critical(&_mavlink_log_pub, "Start loiter with fixed bank angle.\t");
events::send(events::ID("fixedwing_position_control_fb_loiter"), events::Log::Critical,
"Start loiter with fixed bank angle");
}
@@ -822,7 +813,6 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
} else {
if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE && !_vehicle_status.in_transition_mode) {
mavlink_log_critical(&_mavlink_log_pub, "Start descending.\t");
events::send(events::ID("fixedwing_position_control_descend"), events::Log::Critical, "Start descending");
}
@@ -1430,7 +1420,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_launch_current_yaw = _yaw;
mavlink_log_info(&_mavlink_log_pub, "Takeoff on runway\t");
events::send(events::ID("fixedwing_position_control_takeoff"), events::Log::Info, "Takeoff on runway");
}
@@ -1439,8 +1428,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
}
_runway_takeoff.update(now, takeoff_airspeed, _airspeed, _current_altitude - _takeoff_ground_alt,
clearance_altitude_amsl - _takeoff_ground_alt,
&_mavlink_log_pub);
clearance_altitude_amsl - _takeoff_ground_alt);
// yaw control is disabled once in "taking off" state
_att_sp.fw_control_yaw_wheel = _runway_takeoff.controlYaw();
@@ -1544,7 +1532,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
/* Perform launch detection */
/* Detect launch using body X (forward) acceleration */
_launchDetector.update(control_interval, _body_acceleration(0), &_mavlink_log_pub);
_launchDetector.update(control_interval, _body_acceleration(0));
}
} else {
@@ -1714,7 +1702,6 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
_flare_states.start_time = now;
_flare_states.initial_height_rate_setpoint = _tecs.hgt_rate_setpoint();
_flare_states.initial_throttle_setpoint = _att_sp.thrust_body[0];
mavlink_log_info(&_mavlink_log_pub, "Landing, flaring\t");
events::send(events::ID("fixedwing_position_control_landing_flaring"), events::Log::Info,
"Landing, flaring");
}
@@ -2222,7 +2209,6 @@ FixedwingPositionControl::Run()
}
if (!valid_setpoint) {
mavlink_log_critical(&_mavlink_log_pub, "Invalid offboard setpoint\t");
events::send(events::ID("fixedwing_position_control_invalid_offboard_sp"), events::Log::Error,
"Invalid offboard setpoint");