diff options
Diffstat (limited to 'src/modules/navigator')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 3abca99f4..5559d7b56 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -853,7 +853,7 @@ 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; /* reset time counter on state changes */ @@ -1061,11 +1061,11 @@ 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"); } } @@ -1165,14 +1165,14 @@ Navigator::set_mission_item() } if (_do_takeoff) { - mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", (double)(_pos_sp_triplet.current.alt - _home_pos.alt)); + mavlink_log_info(_mavlink_fd, "#audio: takeoff to %.1fm above home", (double)(_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); } } @@ -1321,7 +1321,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt)); + mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt)); break; } @@ -1347,7 +1347,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt)); + mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt)); break; } @@ -1374,12 +1374,12 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt)); + mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %.1fm above home", (double)(_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; } @@ -1528,7 +1528,7 @@ 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", (double)_mission_item.time_inside); + mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", (double)_mission_item.time_inside); } } @@ -1556,7 +1556,7 @@ 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 */ |