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navigator: cleanup output messages (don't use warnx)

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This commit is contained in:
Beat Küng
2016-10-11 13:10:43 +02:00
parent 7cdf9c31bf
commit c87933d556
1 changed files with 19 additions and 19 deletions
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src/modules/navigator/navigator_main.cpp
+19 -19
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@@ -290,7 +290,7 @@ Navigator::task_main()
struct stat buffer; struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) { if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
warnx("Try to load geofence.txt"); PX4_INFO("Try to load geofence.txt");
_geofence.loadFromFile(GEOFENCE_FILENAME); _geofence.loadFromFile(GEOFENCE_FILENAME);
} else { } else {
@@ -342,13 +342,13 @@ Navigator::task_main()
/* timed out - periodic check for _task_should_exit, etc. */ /* timed out - periodic check for _task_should_exit, etc. */
if (global_pos_available_once) { if (global_pos_available_once) {
global_pos_available_once = false; global_pos_available_once = false;
PX4_WARN("navigator: global position timeout"); PX4_WARN("global position timeout");
} }
/* Let the loop run anyway, don't do `continue` here. */ /* Let the loop run anyway, don't do `continue` here. */
} else if (pret < 0) { } else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */ /* this is undesirable but not much we can do - might want to flag unhappy status */
PX4_WARN("nav: poll error %d, %d", pret, errno); PX4_ERR("nav: poll error %d, %d", pret, errno);
usleep(10000); usleep(10000);
continue; continue;
} else { } else {
@@ -493,7 +493,7 @@ Navigator::task_main()
rep->next.valid = false; rep->next.valid = false;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_PAUSE_CONTINUE) { } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_PAUSE_CONTINUE) {
warnx("navigator: got pause/continue command"); PX4_INFO("got pause/continue command");
} }
} }
@@ -631,7 +631,7 @@ Navigator::task_main()
perf_end(_loop_perf); perf_end(_loop_perf);
} }
warnx("exiting."); PX4_INFO("exiting");
_navigator_task = -1; _navigator_task = -1;
return; return;
@@ -662,26 +662,26 @@ void
Navigator::status() Navigator::status()
{ {
/* TODO: add this again */ /* TODO: add this again */
// warnx("Global position is %svalid", _global_pos_valid ? "" : "in"); // PX4_INFO("Global position is %svalid", _global_pos_valid ? "" : "in");
// if (_global_pos.global_valid) { // if (_global_pos.global_valid) {
// warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat); // PX4_INFO("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
// warnx("Altitude %5.5f meters, altitude above home %5.5f meters", // PX4_INFO("Altitude %5.5f meters, altitude above home %5.5f meters",
// (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt)); // (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
// warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f", // PX4_INFO("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
// (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d); // (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
// warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F)); // PX4_INFO("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
// } // }
if (_geofence.valid()) { if (_geofence.valid()) {
warnx("Geofence is valid"); PX4_INFO("Geofence is valid");
/* TODO: needed? */ /* TODO: needed? */
// warnx("Vertex longitude latitude"); // PX4_INFO("Vertex longitude latitude");
// for (unsigned i = 0; i < _fence.count; i++) // for (unsigned i = 0; i < _fence.count; i++)
// warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); // PX4_INFO("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
} else { } else {
warnx("Geofence not set (no /etc/geofence.txt on microsd) or not valid"); PX4_INFO("Geofence not set (no /etc/geofence.txt on microsd) or not valid");
} }
} }
@@ -804,7 +804,7 @@ Navigator::abort_landing()
static void usage() static void usage()
{ {
warnx("usage: navigator {start|stop|status|fence|fencefile}"); PX4_INFO("usage: navigator {start|stop|status|fence|fencefile}");
} }
int navigator_main(int argc, char *argv[]) int navigator_main(int argc, char *argv[])
@@ -817,21 +817,21 @@ int navigator_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) { if (!strcmp(argv[1], "start")) {
if (navigator::g_navigator != nullptr) { if (navigator::g_navigator != nullptr) {
warnx("already running"); PX4_WARN("already running");
return 1; return 1;
} }
navigator::g_navigator = new Navigator; navigator::g_navigator = new Navigator;
if (navigator::g_navigator == nullptr) { if (navigator::g_navigator == nullptr) {
warnx("alloc failed"); PX4_ERR("alloc failed");
return 1; return 1;
} }
if (OK != navigator::g_navigator->start()) { if (OK != navigator::g_navigator->start()) {
delete navigator::g_navigator; delete navigator::g_navigator;
navigator::g_navigator = nullptr; navigator::g_navigator = nullptr;
warnx("start failed"); PX4_ERR("start failed");
return 1; return 1;
} }
@@ -839,7 +839,7 @@ int navigator_main(int argc, char *argv[])
} }
if (navigator::g_navigator == nullptr) { if (navigator::g_navigator == nullptr) {
warnx("not running"); PX4_INFO("not running");
return 1; return 1;
} }