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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-14 13:25:49 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-14 13:25:49 +0200 |
commit | 4b3422161442dd00522860616527df6c46079c7b (patch) | |
tree | bc4f2996ae7524d2753b81d8244aef6267522fb9 | |
parent | eda19ee5a1cf9eab2552a253a29a53ed82e833af (diff) | |
download | px4-firmware-4b3422161442dd00522860616527df6c46079c7b.tar.gz px4-firmware-4b3422161442dd00522860616527df6c46079c7b.tar.bz2 px4-firmware-4b3422161442dd00522860616527df6c46079c7b.zip |
navigator: Get rid of audio tag in strings and use appropriate priority to get audio out when needed in the GCS
-rw-r--r-- | src/modules/navigator/datalinkloss.cpp | 10 | ||||
-rw-r--r-- | src/modules/navigator/enginefailure.cpp | 2 | ||||
-rw-r--r-- | src/modules/navigator/geofence.cpp | 6 | ||||
-rw-r--r-- | src/modules/navigator/gpsfailure.cpp | 4 | ||||
-rw-r--r-- | src/modules/navigator/mission_block.cpp | 2 | ||||
-rw-r--r-- | src/modules/navigator/mission_feasibility_checker.cpp | 12 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 2 | ||||
-rw-r--r-- | src/modules/navigator/rcloss.cpp | 6 | ||||
-rw-r--r-- | src/modules/navigator/rtl.cpp | 16 |
9 files changed, 30 insertions, 30 deletions
diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp index 87a6e023a..7925809f1 100644 --- a/src/modules/navigator/datalinkloss.cpp +++ b/src/modules/navigator/datalinkloss.cpp @@ -186,7 +186,7 @@ DataLinkLoss::advance_dll() if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) { warnx("%d data link losses, limit is %d, fly to airfield home", _navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get()); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "too many DL losses, fly to airfield home"); _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->set_mission_result_updated(); reset_mission_item_reached(); @@ -194,19 +194,19 @@ DataLinkLoss::advance_dll() } else { if (!_param_skipcommshold.get()) { warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "fly to comms hold"); _dll_state = DLL_STATE_FLYTOCOMMSHOLDWP; } else { /* comms hold wp not active, fly to airfield home directly */ warnx("Skipping comms hold wp. Flying directly to airfield home"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "fly to airfield home, comms hold skipped"); _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; } } break; case DLL_STATE_FLYTOCOMMSHOLDWP: warnx("fly to airfield home"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "fly to airfield home"); _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->set_mission_result_updated(); @@ -215,7 +215,7 @@ DataLinkLoss::advance_dll() case DLL_STATE_FLYTOAIRFIELDHOMEWP: _dll_state = DLL_STATE_TERMINATE; warnx("time is up, state should have been changed manually by now"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "no manual control, terminating"); _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->set_mission_result_updated(); reset_mission_item_reached(); diff --git a/src/modules/navigator/enginefailure.cpp b/src/modules/navigator/enginefailure.cpp index e007b208b..b0130a1f5 100644 --- a/src/modules/navigator/enginefailure.cpp +++ b/src/modules/navigator/enginefailure.cpp @@ -140,7 +140,7 @@ EngineFailure::advance_ef() { switch (_ef_state) { case EF_STATE_NONE: - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: Engine failure. Loitering down"); + mavlink_log_emergency(_navigator->get_mavlink_fd(), "Engine failure. Loitering down"); _ef_state = EF_STATE_LOITERDOWN; break; default: diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index efbc2689b..31c4db61a 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -146,13 +146,13 @@ bool Geofence::inside(double lat, double lon, float altitude) &dist_xy, &dist_z); if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) { - mavlink_log_critical(_mavlinkFd, "#audio: Geofence exceeded max vertical distance by %.0f m", + mavlink_log_critical(_mavlinkFd, "Geofence exceeded max vertical distance by %.0f m", (double)(dist_z - max_vertical_distance)); return false; } if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) { - mavlink_log_critical(_mavlinkFd, "#audio: Geofence exceeded max horizontal distance by %.0f m", + mavlink_log_critical(_mavlinkFd, "Geofence exceeded max horizontal distance by %.0f m", (double)(dist_xy - max_horizontal_distance)); return false; } @@ -409,7 +409,7 @@ Geofence::loadFromFile(const char *filename) } else { warnx("Geofence: import error"); - mavlink_log_critical(_mavlinkFd, "#audio: Geofence import error"); + mavlink_log_critical(_mavlinkFd, "Geofence import error"); } error: diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp index e370796c0..0ca69f0f7 100644 --- a/src/modules/navigator/gpsfailure.cpp +++ b/src/modules/navigator/gpsfailure.cpp @@ -161,12 +161,12 @@ GpsFailure::advance_gpsf() case GPSF_STATE_NONE: _gpsf_state = GPSF_STATE_LOITER; warnx("gpsf loiter"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: open loop loiter"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "GPS failed: open loop loiter"); break; case GPSF_STATE_LOITER: _gpsf_state = GPSF_STATE_TERMINATE; warnx("gpsf terminate"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no gps recovery, termination"); + mavlink_log_emergency(_navigator->get_mavlink_fd(), "no gps recovery, termination"); warnx("mavlink sent"); break; case GPSF_STATE_TERMINATE: diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 52ccebac9..dce7d4517 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -159,7 +159,7 @@ MissionBlock::is_mission_item_reached() _time_first_inside_orbit = now; // if (_mission_item.time_inside > 0.01f) { - // mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", + // mavlink_log_critical(_mavlink_fd, "waypoint reached, wait for %.1fs", // (double)_mission_item.time_inside); // } } diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 389cdd0d2..904f44238 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -121,7 +121,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss } if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) { - mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i); + mavlink_log_critical(_mavlink_fd, "Geofence violation waypoint %d", i); return false; } } @@ -203,25 +203,25 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size return true; } else { /* Landing waypoint is above altitude of slope at the given waypoint distance */ - mavlink_log_info(_mavlink_fd, "#audio: Landing: last waypoint too high/too close"); - mavlink_log_info(_mavlink_fd, "Move down to %.1fm or move further away by %.1fm", + mavlink_log_critical(_mavlink_fd, "Landing: last waypoint too high/too close"); + mavlink_log_critical(_mavlink_fd, "Move down to %.1fm or move further away by %.1fm", (double)(slope_alt_req), (double)(wp_distance_req - wp_distance)); return false; } } else { /* Landing waypoint is above last waypoint */ - mavlink_log_info(_mavlink_fd, "#audio: Landing waypoint above last nav waypoint"); + mavlink_log_critical(_mavlink_fd, "Landing waypoint above last nav waypoint"); return false; } } else { /* Last wp is in flare region */ //xxx give recommendations - mavlink_log_info(_mavlink_fd, "#audio: Warning: Landing: last waypoint in flare region"); + mavlink_log_critical(_mavlink_fd, "Warning: Landing: last waypoint in flare region"); return false; } } else { - mavlink_log_info(_mavlink_fd, "#audio: Warning: starting with land waypoint"); + mavlink_log_critical(_mavlink_fd, "Warning: starting with land waypoint"); return false; } } diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 05fac7b81..9691e26a8 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -409,7 +409,7 @@ Navigator::task_main() /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { - mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation"); + mavlink_log_critical(_mavlink_fd, "Geofence violation"); _geofence_violation_warning_sent = true; } } else { diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp index a7cde6325..40bf7f022 100644 --- a/src/modules/navigator/rcloss.cpp +++ b/src/modules/navigator/rcloss.cpp @@ -155,11 +155,11 @@ RCLoss::advance_rcl() case RCL_STATE_NONE: if (_param_loitertime.get() > 0.0f) { warnx("RC loss, OBC mode, loiter"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, loitering"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "rc loss, loitering"); _rcl_state = RCL_STATE_LOITER; } else { warnx("RC loss, OBC mode, slip loiter, terminate"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, terminating"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "rc loss, terminating"); _rcl_state = RCL_STATE_TERMINATE; _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->set_mission_result_updated(); @@ -169,7 +169,7 @@ RCLoss::advance_rcl() case RCL_STATE_LOITER: _rcl_state = RCL_STATE_TERMINATE; warnx("time is up, no RC regain, terminating"); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "RC not regained, terminating"); _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->set_mission_result_updated(); reset_mission_item_reached(); diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index b6c4b8fdf..c1ed8cb7c 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -89,7 +89,7 @@ RTL::on_activation() /* for safety reasons don't go into RTL if landed */ if (_navigator->get_vstatus()->condition_landed) { _rtl_state = RTL_STATE_LANDED; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "no RTL when landed"); /* if lower than return altitude, climb up first */ } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt @@ -146,7 +146,7 @@ RTL::set_rtl_item() _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home", + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: climb to %d meters above home", (int)(climb_alt - _navigator->get_home_position()->alt)); break; } @@ -177,7 +177,7 @@ RTL::set_rtl_item() _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home", + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: return at %d meters above home", (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } @@ -197,7 +197,7 @@ RTL::set_rtl_item() _mission_item.autocontinue = false; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home", + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: descend to %d meters above home", (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } @@ -222,10 +222,10 @@ RTL::set_rtl_item() _navigator->set_can_loiter_at_sp(true); if (autoland) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", (double)_mission_item.time_inside); + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: loiter %.1fs", (double)_mission_item.time_inside); } else { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: completed, loiter"); } break; } @@ -245,7 +245,7 @@ RTL::set_rtl_item() _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: land at home"); break; } @@ -264,7 +264,7 @@ RTL::set_rtl_item() _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, landed"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: completed, landed"); break; } |