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sensors: switch status PX4_INFO -> PX4_INFO_RAW

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This commit is contained in:
Daniel Agar 2022-01-17 21:22:03 -05:00
parent b1d2a0cc4e
commit dd6b7fa98f
13 changed files with 76 additions and 71 deletions
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29
src/lib/sensor_calibration/Accelerometer.cpp
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@ -301,25 +301,26 @@ bool Accelerometer::ParametersSave(int desired_calibration_index, bool force)
void Accelerometer::PrintStatus()
{
if (external()) {
PX4_INFO("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2),
(double)_temperature,
rotation_enum());
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2),
(double)_temperature,
rotation_enum());
} else {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2),
(double)_temperature);
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2),
(double)_temperature);
}
if (_thermal_offset.norm() > 0.f) {
PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id,
(double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
PX4_INFO_RAW("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]\n", SensorString(), _device_id,
(double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
}
}

24
src/lib/sensor_calibration/Gyroscope.cpp
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@ -281,23 +281,23 @@ bool Gyroscope::ParametersSave(int desired_calibration_index, bool force)
void Gyroscope::PrintStatus()
{
if (external()) {
PX4_INFO("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature,
rotation_enum());
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature,
rotation_enum());
} else {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature);
PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature);
}
if (_thermal_offset.norm() > 0.f) {
PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id,
(double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
PX4_INFO_RAW("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]\n", SensorString(), _device_id,
(double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
}
}

25
src/lib/sensor_calibration/Magnetometer.cpp
View File

@ -301,20 +301,21 @@ bool Magnetometer::ParametersSave(int desired_calibration_index, bool force)
void Magnetometer::PrintStatus()
{
if (external()) {
PX4_INFO("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature,
rotation_enum());
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature,
rotation_enum());
} else {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature);
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature);
}
#if defined(DEBUG_BUILD)

6
src/modules/sensors/data_validator/DataValidator.cpp
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@ -142,12 +142,12 @@ float DataValidator::confidence(uint64_t timestamp)
void DataValidator::print()
{
if (_time_last == 0) {
PX4_INFO("\tno data");
PX4_INFO_RAW("\tno data\n");
return;
}
for (unsigned i = 0; i < dimensions; i++) {
PX4_INFO("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f conf: %8.4f", (double)_value[i],
(double)_lp[i], (double)_mean[i], (double)_rms[i], (double)confidence(hrt_absolute_time()));
PX4_INFO_RAW("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f conf: %8.4f\n", (double)_value[i],
(double)_lp[i], (double)_mean[i], (double)_rms[i], (double)confidence(hrt_absolute_time()));
}
}

18
src/modules/sensors/data_validator/DataValidatorGroup.cpp
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@ -225,8 +225,8 @@ float *DataValidatorGroup::get_best(uint64_t timestamp, int *index)
void DataValidatorGroup::print()
{
PX4_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)", _curr_best, _prev_best,
(_toggle_count > 0) ? "YES" : "NO", _toggle_count);
PX4_INFO_RAW("validator: best: %d, prev best: %d, failsafe: %s (%u events)\n", _curr_best, _prev_best,
(_toggle_count > 0) ? "YES" : "NO", _toggle_count);
DataValidator *next = _first;
unsigned i = 0;
@ -235,13 +235,13 @@ void DataValidatorGroup::print()
if (next->used()) {
uint32_t flags = next->state();
PX4_INFO("sensor #%u, prio: %d, state:%s%s%s%s%s%s", i, next->priority(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""),
((flags == DataValidator::ERROR_FLAG_NO_ERROR) ? " OK" : ""));
PX4_INFO_RAW("sensor #%u, prio: %d, state:%s%s%s%s%s%s\n", i, next->priority(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""),
((flags == DataValidator::ERROR_FLAG_NO_ERROR) ? " OK" : ""));
next->print();
}

2
src/modules/sensors/sensors.cpp
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@ -769,7 +769,7 @@ int Sensors::print_status()
}
PX4_INFO_RAW("\n");
PX4_INFO("Airspeed status:");
PX4_INFO_RAW("Airspeed status:\n");
_airspeed_validator.print();
PX4_INFO_RAW("\n");

6
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
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@ -256,9 +256,9 @@ void VehicleAcceleration::Run()
void VehicleAcceleration::PrintStatus()
{
PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]",
_calibration.device_id(), (double)_filter_sample_rate,
(double)_bias(0), (double)_bias(1), (double)_bias(2));
PX4_INFO_RAW("[vehicle_acceleration] selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]\n",
_calibration.device_id(), (double)_filter_sample_rate,
(double)_bias(0), (double)_bias(1), (double)_bias(2));
_calibration.PrintStatus();
}

9
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
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@ -338,12 +338,13 @@ void VehicleAirData::Run()
void VehicleAirData::PrintStatus()
{
if (_selected_sensor_sub_index >= 0) {
PX4_INFO("selected barometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index);
PX4_INFO_RAW("[vehicle_air_data] selected barometer: %" PRIu32 " (%" PRId8 ")\n",
_last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index);
if (fabsf(_thermal_offset[_selected_sensor_sub_index]) > 0.f) {
PX4_INFO("%" PRIu32 " temperature offset: %.4f", _last_data[_selected_sensor_sub_index].device_id,
(double)_thermal_offset[_selected_sensor_sub_index]);
PX4_INFO_RAW("%" PRIu32 " temperature offset: %.4f\n", _last_data[_selected_sensor_sub_index].device_id,
(double)_thermal_offset[_selected_sensor_sub_index]);
}
}

7
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
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@ -860,9 +860,10 @@ bool VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime &timestamp_sa
void VehicleAngularVelocity::PrintStatus()
{
PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz %s, estimated bias: [%.5f %.5f %.5f]",
_calibration.device_id(), (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "",
(double)_bias(0), (double)_bias(1), (double)_bias(2));
PX4_INFO_RAW("[vehicle_angular_velocity] selected sensor: %" PRIu32
", rate: %.1f Hz %s, estimated bias: [%.5f %.5f %.5f]\n",
_calibration.device_id(), (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "",
(double)_bias(0), (double)_bias(1), (double)_bias(2));
_calibration.PrintStatus();

2
src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
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@ -176,7 +176,7 @@ void VehicleGPSPosition::Publish(const sensor_gps_s &gps, uint8_t selected)
void VehicleGPSPosition::PrintStatus()
{
//PX4_INFO("selected GPS: %d", _gps_select_index);
//PX4_INFO_RAW("[vehicle_gps_position] selected GPS: %d\n", _gps_select_index);
}
}; // namespace sensors

10
src/modules/sensors/vehicle_imu/VehicleIMU.cpp
View File

@ -701,11 +701,11 @@ void VehicleIMU::UpdateGyroVibrationMetrics(const Vector3f &angular_velocity)
void VehicleIMU::PrintStatus()
{
PX4_INFO("%" PRIu8 " - Accel: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro: %" PRIu32
", interval: %.1f us (SD %.1f us)",
_instance,
_accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance),
_gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance));
PX4_INFO_RAW("[vehicle_imu] %" PRIu8 " - Accel: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro: %" PRIu32
", interval: %.1f us (SD %.1f us)\n",
_instance,
_accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance),
_gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance));
PX4_DEBUG("gyro update mean sample latency: %.6f s, publish latency %.6f s, gyro interval %.6f s",
(double)_gyro_update_latency_mean.mean()(0), (double)_gyro_update_latency_mean.mean()(1),

5
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
View File

@ -633,8 +633,9 @@ void VehicleMagnetometer::calcMagInconsistency()
void VehicleMagnetometer::PrintStatus()
{
if (_selected_sensor_sub_index >= 0) {
PX4_INFO("selected magnetometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index);
PX4_INFO_RAW("[vehicle_magnetometer] selected magnetometer: %" PRIu32 " (%" PRId8 ")\n",
_last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index);
}
_voter.print();

4
src/modules/sensors/voted_sensors_update.cpp
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@ -377,11 +377,11 @@ void VotedSensorsUpdate::initSensorClass(SensorData &sensor_data, uint8_t sensor
void VotedSensorsUpdate::printStatus()
{
PX4_INFO("selected gyro: %" PRIu32 " (%" PRIu8 ")", _selection.gyro_device_id, _gyro.last_best_vote);
PX4_INFO_RAW("selected gyro: %" PRIu32 " (%" PRIu8 ")\n", _selection.gyro_device_id, _gyro.last_best_vote);
_gyro.voter.print();
PX4_INFO_RAW("\n");
PX4_INFO("selected accel: %" PRIu32 " (%" PRIu8 ")", _selection.accel_device_id, _accel.last_best_vote);
PX4_INFO_RAW("selected accel: %" PRIu32 " (%" PRIu8 ")\n", _selection.accel_device_id, _accel.last_best_vote);
_accel.voter.print();
}