Merge branch 'inav_fs' into rtl_heading

1 files changed, 12 insertions, 12 deletions

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 4cd60d8d8..234c457d0 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -858,7 +858,7 @@ Navigator::task_main()
 
 		/* notify user about state changes */
 		if (myState != prevState) {
-			mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]);
+			mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]);
 			prevState = myState;
 		}
 
@@ -1069,11 +1069,11 @@ Navigator::start_loiter()
 		/* use current altitude if above min altitude set by parameter */
 		if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) {
 			_pos_sp_triplet.current.alt = min_alt_amsl;
-			mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
+			mavlink_log_info(_mavlink_fd, "#audio: loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
 
 		} else {
 			_pos_sp_triplet.current.alt = _global_pos.alt;
-			mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
+			mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude");
 		}
 
 	}
@@ -1169,14 +1169,14 @@ Navigator::set_mission_item()
 		}
 
 		if (_do_takeoff) {
-			mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt);
+			mavlink_log_info(_mavlink_fd, "#audio: takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt);
 
 		} else {
 			if (onboard) {
-				mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index);
+				mavlink_log_info(_mavlink_fd, "#audio: heading to onboard WP %d", index);
 
 			} else {
-				mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index);
+				mavlink_log_info(_mavlink_fd, "#audio: heading to offboard WP %d", index);
 			}
 		}
 
@@ -1328,7 +1328,7 @@ Navigator::set_rtl_item()
 
 			_pos_sp_triplet.next.valid = false;
 
-			mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
+			mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
 			break;
 		}
 
@@ -1361,7 +1361,7 @@ Navigator::set_rtl_item()
 
 			_pos_sp_triplet.next.valid = false;
 
-			mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt);
+			mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt);
 			break;
 		}
 
@@ -1388,12 +1388,12 @@ Navigator::set_rtl_item()
 
 			_pos_sp_triplet.next.valid = false;
 
-			mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt);
+			mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt);
 			break;
 		}
 
 	default: {
-			mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state);
+			mavlink_log_critical(_mavlink_fd, "#audio: [navigator] error: unknown RTL state: %d", _rtl_state);
 			start_loiter();
 			break;
 		}
@@ -1553,7 +1553,7 @@ Navigator::check_mission_item_reached()
 			_time_first_inside_orbit = now;
 
 			if (_mission_item.time_inside > 0.01f) {
-				mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside);
+				mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", _mission_item.time_inside);
 			}
 		}
 
@@ -1585,7 +1585,7 @@ Navigator::on_mission_item_reached()
 		if (_do_takeoff) {
 			/* takeoff completed */
 			_do_takeoff = false;
-			mavlink_log_info(_mavlink_fd, "[navigator] takeoff completed");
+			mavlink_log_info(_mavlink_fd, "#audio: takeoff completed");
 
 		} else {
 			/* advance by one mission item */