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navigator log RTL messages and don't print global timeout

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This commit is contained in:
Daniel Agar
2017-07-08 14:02:47 -04:00
committed by Lorenz Meier
parent f396224d41
commit fbebec5d0f
2 changed files with 16 additions and 17 deletions
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src/modules/navigator/navigator_main.cpp
+1 -2
View File
@@ -286,14 +286,13 @@ Navigator::task_main()
/* timed out - periodic check for _task_should_exit, etc. */
if (global_pos_available_once) {
global_pos_available_once = false;
PX4_WARN("global position timeout");
}
/* Let the loop run anyway, don't do `continue` here. */
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
PX4_ERR("nav: poll error %d, %d", pret, errno);
PX4_ERR("poll error %d, %d", pret, errno);
usleep(10000);
continue;
src/modules/navigator/rtl.cpp
+15 -15
View File
@@ -102,7 +102,7 @@ RTL::on_activation()
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_land_detected()->landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already landed, not executing RTL");
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "Already landed, not executing RTL");
/* if lower than return altitude, climb up first */
@@ -166,9 +166,9 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)",
(int)(climb_alt),
(int)(climb_alt - _navigator->get_home_position()->alt));
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)",
(int)(climb_alt),
(int)(climb_alt - _navigator->get_home_position()->alt));
break;
}
@@ -200,9 +200,9 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
}
@@ -246,9 +246,9 @@ RTL::set_rtl_item()
/* disable previous setpoint to prevent drift */
pos_sp_triplet->previous.valid = false;
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
}
@@ -269,11 +269,11 @@ RTL::set_rtl_item()
_navigator->set_can_loiter_at_sp(true);
if (autoland && (get_time_inside(_mission_item) > FLT_EPSILON)) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs",
(double)get_time_inside(_mission_item));
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs",
(double)get_time_inside(_mission_item));
} else {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter");
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter");
}
break;
@@ -283,14 +283,14 @@ RTL::set_rtl_item()
set_land_item(&_mission_item, false);
_mission_item.yaw = _navigator->get_home_position()->yaw;
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at home");
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at home");
break;
}
case RTL_STATE_LANDED: {
set_idle_item(&_mission_item);
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, landed");
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, landed");
break;
}