From dd6b7fa98f856160a82d7f398fd39d4ea4c94fc9 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 17 Jan 2022 21:22:03 -0500 Subject: [PATCH] sensors: switch status PX4_INFO -> PX4_INFO_RAW --- src/lib/sensor_calibration/Accelerometer.cpp | 29 ++++++++++--------- src/lib/sensor_calibration/Gyroscope.cpp | 24 +++++++-------- src/lib/sensor_calibration/Magnetometer.cpp | 25 ++++++++-------- .../sensors/data_validator/DataValidator.cpp | 6 ++-- .../data_validator/DataValidatorGroup.cpp | 18 ++++++------ src/modules/sensors/sensors.cpp | 2 +- .../VehicleAcceleration.cpp | 6 ++-- .../vehicle_air_data/VehicleAirData.cpp | 9 +++--- .../VehicleAngularVelocity.cpp | 7 +++-- .../VehicleGPSPosition.cpp | 2 +- .../sensors/vehicle_imu/VehicleIMU.cpp | 10 +++---- .../VehicleMagnetometer.cpp | 5 ++-- src/modules/sensors/voted_sensors_update.cpp | 4 +-- 13 files changed, 76 insertions(+), 71 deletions(-) diff --git a/src/lib/sensor_calibration/Accelerometer.cpp b/src/lib/sensor_calibration/Accelerometer.cpp index 4a0443875e..e7c024a462 100644 --- a/src/lib/sensor_calibration/Accelerometer.cpp +++ b/src/lib/sensor_calibration/Accelerometer.cpp @@ -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)); } } diff --git a/src/lib/sensor_calibration/Gyroscope.cpp b/src/lib/sensor_calibration/Gyroscope.cpp index f6888083bd..eac0aadc49 100644 --- a/src/lib/sensor_calibration/Gyroscope.cpp +++ b/src/lib/sensor_calibration/Gyroscope.cpp @@ -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)); } } diff --git a/src/lib/sensor_calibration/Magnetometer.cpp b/src/lib/sensor_calibration/Magnetometer.cpp index e4eda34ae3..7895ffa2fe 100644 --- a/src/lib/sensor_calibration/Magnetometer.cpp +++ b/src/lib/sensor_calibration/Magnetometer.cpp @@ -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) diff --git a/src/modules/sensors/data_validator/DataValidator.cpp b/src/modules/sensors/data_validator/DataValidator.cpp index 68ca806923..bc88602196 100644 --- a/src/modules/sensors/data_validator/DataValidator.cpp +++ b/src/modules/sensors/data_validator/DataValidator.cpp @@ -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())); } } diff --git a/src/modules/sensors/data_validator/DataValidatorGroup.cpp b/src/modules/sensors/data_validator/DataValidatorGroup.cpp index 6ff8748fd7..c58574307c 100644 --- a/src/modules/sensors/data_validator/DataValidatorGroup.cpp +++ b/src/modules/sensors/data_validator/DataValidatorGroup.cpp @@ -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(); } diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 67b67f2ed0..8e4d86e9b6 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -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"); diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp index 02c6c0db79..7dd62009e4 100644 --- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp +++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp @@ -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(); } diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index 8d4e605bd6..5cf0a42c63 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -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]); } } diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp index 9059dea4bb..c658f1fa50 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp @@ -860,9 +860,10 @@ bool VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime ×tamp_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(); diff --git a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp index 9f65125ef4..f30aef9b5a 100644 --- a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp +++ b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp @@ -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 diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index 6fce636c24..d0f4dea353 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -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), diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp index 4f734e7af6..cda243e567 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp @@ -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(); diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index d9e69608bc..963051aab6 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -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(); }