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mission_block: fix style, shorten debug message strings

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This commit is contained in:
Matthias Grob
2024-11-28 20:23:36 +01:00
parent 8b3c78a0a4
commit ec1cf04bc9
1 changed files with 8 additions and 10 deletions
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src/modules/navigator/mission_block.cpp
+8 -10
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@@ -146,11 +146,11 @@ MissionBlock::is_mission_item_reached_or_completed()
1E-6f; // TODO: Add proper microseconds_to_seconds function 1E-6f; // TODO: Add proper microseconds_to_seconds function
if (_payload_deploy_ack_successful) { if (_payload_deploy_ack_successful) {
PX4_DEBUG("Winch Deploy Ack received! Resuming mission"); PX4_DEBUG("Winch has acknowledged, resume mission");
return true; return true;
} else if (payload_deploy_elasped_time_s > _payload_deploy_timeout_s) { } else if (payload_deploy_elasped_time_s > _payload_deploy_timeout_s) {
PX4_DEBUG("Winch Deploy Timed out, resuming mission!"); PX4_DEBUG("Winch timed out, resume mission");
return true; return true;
} }
@@ -161,26 +161,25 @@ MissionBlock::is_mission_item_reached_or_completed()
case NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW: { case NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW: {
const float gimbal_command_elasped_time_s = (now - _gimbal_command_time) * 1E-6f; const float gimbal_command_elasped_time_s = (now - _gimbal_command_time) * 1E-6f;
if (gimbal_command_elasped_time_s > _gimbal_wait_time) {
PX4_DEBUG("Waited %.2f seconds for the gimbal to reach the desired orientation, resuming mission!", (double) _gimbal_wait_time);
return true;
if (gimbal_command_elasped_time_s > _gimbal_wait_time) {
PX4_DEBUG("Gimbal aligned, resume mission");
return true;
} }
// We are still waiting the desired delay for the gimbal // We are still waiting the desired delay for the gimbal
return false; return false;
} }
case NAV_CMD_DO_GRIPPER: { case NAV_CMD_DO_GRIPPER: {
const float payload_deploy_elasped_time_s = (now - _payload_deployed_time) * 1E-6f; const float payload_deploy_elasped_time_s = (now - _payload_deployed_time) * 1E-6f;
if (_payload_deploy_ack_successful) { if (_payload_deploy_ack_successful) {
PX4_DEBUG("Gripper Deploy Ack received! Resuming mission"); PX4_DEBUG("Gripper has acknowledged, resume mission");
return true; return true;
} else if (payload_deploy_elasped_time_s > _payload_deploy_timeout_s) { } else if (payload_deploy_elasped_time_s > _payload_deploy_timeout_s) {
PX4_DEBUG("Gripper Deploy Timed out, resuming mission!"); PX4_DEBUG("Gripper timed out, resume mission");
return true; return true;
} }
@@ -609,8 +608,7 @@ MissionBlock::issue_command(const mission_item_s &item)
// Register the Gimbal control command (NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) timestamp so to wait // Register the Gimbal control command (NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) timestamp so to wait
// for the gimbal to reach the desired position // for the gimbal to reach the desired position
if (item.nav_cmd == NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) if (item.nav_cmd == NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) {
{
_gimbal_command_time = hrt_absolute_time(); _gimbal_command_time = hrt_absolute_time();
} }