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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/navigator_main.cpp
+6 -18
View File
@@ -79,7 +79,7 @@
#include <geo/geo.h>
#include <dataman/dataman.h>
#include <mathlib/mathlib.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/mavlink_log.h>
#include "navigator.h"
@@ -102,7 +102,7 @@ Navigator::Navigator() :
SuperBlock(NULL, "NAV"),
_task_should_exit(false),
_navigator_task(-1),
_mavlink_fd(-1),
_mavlink_log_pub(nullptr),
_global_pos_sub(-1),
_gps_pos_sub(-1),
_home_pos_sub(-1),
@@ -131,7 +131,7 @@ Navigator::Navigator() :
_mission_item_valid(false),
_mission_instance_count(0),
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
_geofence{},
_geofence(this),
_geofence_violation_warning_sent(false),
_inside_fence(true),
_can_loiter_at_sp(false),
@@ -265,9 +265,6 @@ Navigator::task_main_trampoline(int argc, char *argv[])
void
Navigator::task_main()
{
_mavlink_fd = px4_open(MAVLINK_LOG_DEVICE, 0);
_geofence.setMavlinkFd(_mavlink_fd);
bool have_geofence_position_data = false;
/* Try to load the geofence:
@@ -281,7 +278,7 @@ Navigator::task_main()
} else {
if (_geofence.clearDm() != OK) {
mavlink_log_critical(_mavlink_fd, "failed clearing geofence");
mavlink_log_critical(&_mavlink_log_pub, "failed clearing geofence");
}
}
@@ -308,9 +305,6 @@ Navigator::task_main()
navigation_capabilities_update();
params_update();
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
px4_pollfd_struct_t fds[1] = {};
@@ -342,12 +336,6 @@ Navigator::task_main()
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = px4_open(MAVLINK_LOG_DEVICE, 0);
}
bool updated;
/* gps updated */
@@ -435,7 +423,7 @@ Navigator::task_main()
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(_mavlink_fd, "Geofence violation");
mavlink_log_critical(&_mavlink_log_pub, "Geofence violation");
_geofence_violation_warning_sent = true;
}
} else {
@@ -777,6 +765,6 @@ Navigator::set_mission_failure(const char* reason)
if (!_mission_result.mission_failure) {
_mission_result.mission_failure = true;
set_mission_result_updated();
mavlink_log_critical(_mavlink_fd, "%s", reason);
mavlink_log_critical(&_mavlink_log_pub, "%s", reason);
}
}