fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 02:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

drivers/modules: changes after mavlink_log change

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl.cpp
+9 -9
View File
@@ -42,7 +42,7 @@
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
@@ -96,7 +96,7 @@ RTL::on_activation()
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_log_critical(_navigator->get_mavlink_fd(), "no RTL when landed");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
@@ -157,7 +157,7 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: climb to %d m (%d m above home)",
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)",
(int)(climb_alt),
(int)(climb_alt - _navigator->get_home_position()->alt));
break;
@@ -189,7 +189,7 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: return at %d m (%d m above home)",
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
@@ -212,7 +212,7 @@ RTL::set_rtl_item()
_mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: descend to %d m (%d m above home)",
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
@@ -238,10 +238,10 @@ RTL::set_rtl_item()
_navigator->set_can_loiter_at_sp(true);
if (autoland) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: loiter %.1fs", (double)_mission_item.time_inside);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs", (double)_mission_item.time_inside);
} else {
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: completed, loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter");
}
break;
}
@@ -249,14 +249,14 @@ RTL::set_rtl_item()
case RTL_STATE_LAND: {
set_land_item(&_mission_item, false);
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: land at home");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: land at home");
break;
}
case RTL_STATE_LANDED: {
set_idle_item(&_mission_item);
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: completed, landed");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: completed, landed");
break;
}