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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/gps_checks.cpp
+4 -2
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@@ -39,9 +39,11 @@
*
*/
#include <ecl/ecl.h>
#include "ekf.h"
#include "mathlib.h"
#include "geo.h"
// GPS pre-flight check bit locations
#define MASK_GPS_NSATS (1<<0)
#define MASK_GPS_GDOP (1<<1)
@@ -59,7 +61,7 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
if (!_NED_origin_initialised) {
// we have good GPS data so can now set the origin's WGS-84 position
if (gps_is_good(gps) && !_NED_origin_initialised) {
printf("EKF gps is good - setting origin\n");
ECL_INFO("EKF gps is good - setting origin");
// Set the origin's WGS-84 position to the last gps fix
double lat = gps->lat / 1.0e7;
double lon = gps->lon / 1.0e7;
@@ -84,7 +86,7 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
// if the user has selected GPS as the primary height source, switch across to using it
if (_primary_hgt_source == VDIST_SENSOR_GPS) {
printf("EKF switching to GPS height\n");
ECL_INFO("EKF switching to GPS height");
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;