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drivers/modules: changes after mavlink_log change

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The mavlink_log API changes lead to changes in all drivers/modules using
it.
This commit is contained in:
Julian Oes
2016-03-24 13:10:02 +01:00
parent b49b012d35
commit bba0d0384d
62 changed files with 731 additions and 831 deletions
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src/modules/navigator/mission.cpp
+18 -22
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@@ -52,7 +52,7 @@
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <lib/mathlib/mathlib.h>
@@ -257,7 +257,7 @@ Mission::update_offboard_mission()
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_log_pub(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
@@ -351,7 +351,7 @@ Mission::set_mission_items()
if (_param_onboard_enabled.get() && prepare_mission_items(true, &_mission_item, &mission_item_next_position, &has_next_position_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "onboard mission now running");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_ONBOARD;
@@ -360,7 +360,7 @@ Mission::set_mission_items()
} else if (prepare_mission_items(false, &_mission_item, &mission_item_next_position, &has_next_position_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "offboard mission now running");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_OFFBOARD;
@@ -368,7 +368,7 @@ Mission::set_mission_items()
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "mission finished, loitering");
user_feedback_done = true;
/* use last setpoint for loiter */
@@ -400,9 +400,9 @@ Mission::set_mission_items()
if (_navigator->get_vstatus()->condition_landed) {
/* landed, refusing to take off without a mission */
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, refusing takeoff");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, refusing takeoff");
} else {
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, loitering");
}
user_feedback_done = true;
@@ -432,7 +432,7 @@ Mission::set_mission_items()
float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
mavlink_log_info(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat;
@@ -821,7 +821,7 @@ Mission::prepare_mission_items(bool onboard, struct mission_item_s *mission_item
int offset = 1;
if (read_mission_item(onboard, 0, mission_item)) {
first_res = true;
/* trying to find next position mission item */
@@ -873,7 +873,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds - if they are equal, we just reached the end */
if (*mission_index_ptr != (int)mission->count) {
mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
}
return false;
}
@@ -886,8 +886,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_and_console_log_critical(_navigator->get_mavlink_fd(),
"ERROR waypoint could not be read");
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "ERROR waypoint could not be read");
return false;
}
@@ -906,8 +905,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
&mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"ERROR DO JUMP waypoint could not be written");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR DO JUMP waypoint could not be written");
return false;
}
report_do_jump_mission_changed(*mission_index_ptr,
@@ -919,8 +917,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
} else {
if (offset == 0) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed");
}
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index_ptr)++;
@@ -934,8 +931,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
}
/* we have given up, we don't want to cycle forever */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"ERROR DO JUMP is cycling, giving up");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR DO JUMP is cycling, giving up");
return false;
}
@@ -957,7 +953,7 @@ Mission::save_offboard_mission_state()
if (mission_state.current_seq != _current_offboard_mission_index) {
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
}
}
}
@@ -969,12 +965,12 @@ Mission::save_offboard_mission_state()
mission_state.current_seq = _current_offboard_mission_index;
warnx("ERROR: invalid mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: invalid mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: invalid mission state");
/* write modified state only if changed */
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
}
}
@@ -1027,7 +1023,7 @@ Mission::check_mission_valid()
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
_navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_log_pub(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,