navigator: Get rid of audio tag in strings and use appropriate priority to get audio out when needed in the GCS

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;
 	}