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EKF: use ECL printfs everywhere

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- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
This commit is contained in:
Julian Oes
2016-06-02 16:07:26 +01:00
parent 654093cae1
commit ecfd8c867a
4 changed files with 20 additions and 14 deletions
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EKF/control.cpp
+11 -10
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@@ -39,6 +39,7 @@
*
*/
#include <ecl/ecl.h>
#include "ekf.h"
void Ekf::controlFusionModes()
@@ -79,7 +80,7 @@ void Ekf::controlExternalVisionAiding()
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// turn on use of external vision measurements for position and height
_control_status.flags.ev_pos = true;
printf("EKF switching to external vision position fusion\n");
ECL_INFO("EKF switching to external vision position fusion");
// turn off other forms of height aiding
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
@@ -119,7 +120,7 @@ void Ekf::controlExternalVisionAiding()
_control_status.flags.mag_3D = false;
_control_status.flags.mag_dec = false;
printf("EKF switching to external vision yaw fusion\n");
ECL_INFO("EKF switching to external vision yaw fusion");
}
}
@@ -326,7 +327,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
printf("EKF baro hgt timeout - reset to GPS\n");
ECL_INFO("EKF baro hgt timeout - reset to GPS");
} else if (reset_to_baro){
// set height sensor health
_baro_hgt_faulty = false;
@@ -337,7 +338,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
printf("EKF baro hgt timeout - reset to baro\n");
ECL_INFO("EKF baro hgt timeout - reset to baro");
} else {
// we have nothing we can reset to
// deny a reset
@@ -377,7 +378,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
printf("EKF gps hgt timeout - reset to baro\n");
ECL_INFO("EKF gps hgt timeout - reset to baro");
} else if (reset_to_gps) {
// set height sensor health
_gps_hgt_faulty = false;
@@ -388,7 +389,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
printf("EKF gps hgt timeout - reset to GPS\n");
ECL_INFO("EKF gps hgt timeout - reset to GPS");
} else {
// we have nothing to reset to
reset_height = false;
@@ -421,7 +422,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
printf("EKF rng hgt timeout - reset to baro\n");
ECL_INFO("EKF rng hgt timeout - reset to baro");
} else if (reset_to_rng) {
// set height sensor health
_rng_hgt_faulty = false;
@@ -432,7 +433,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
printf("EKF rng hgt timeout - reset to rng hgt\n");
ECL_INFO("EKF rng hgt timeout - reset to rng hgt");
} else {
// we have nothing to reset to
reset_height = false;
@@ -465,7 +466,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
printf("EKF ev hgt timeout - reset to baro\n");
ECL_INFO("EKF ev hgt timeout - reset to baro");
} else if (reset_to_ev) {
// reset the height mode
_control_status.flags.baro_hgt = false;
@@ -474,7 +475,7 @@ void Ekf::controlHeightSensorTimeouts()
_control_status.flags.ev_hgt = true;
// request a reset
reset_height = true;
printf("EKF ev hgt timeout - reset to ev hgt\n");
ECL_INFO("EKF ev hgt timeout - reset to ev hgt");
} else {
// we have nothing to reset to
reset_height = false;