From 9608dfefa30ee38c67432dbee6e585e5cb677090 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 11 Jan 2013 08:18:12 +0100 Subject: Stripped a lot of text from commander app --- apps/commander/commander.c | 183 ++++++++++++++++++++------------------------- 1 file changed, 81 insertions(+), 102 deletions(-) diff --git a/apps/commander/commander.c b/apps/commander/commander.c index ea2876c7b..c05948402 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -182,7 +182,7 @@ static int buzzer_init() buzzer = open("/dev/tone_alarm", O_WRONLY); if (buzzer < 0) { - fprintf(stderr, "[cmd] Buzzer: open fail\n"); + warnx("Buzzer: open fail\n"); return ERROR; } @@ -200,12 +200,12 @@ static int led_init() leds = open(LED_DEVICE_PATH, 0); if (leds < 0) { - fprintf(stderr, "[cmd] LED: open fail\n"); + warnx("LED: open fail\n"); return ERROR; } if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { - fprintf(stderr, "[cmd] LED: ioctl fail\n"); + warnx("LED: ioctl fail\n"); return ERROR; } @@ -306,7 +306,7 @@ void do_rc_calibration(int status_pub, struct vehicle_status_s *status) mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); } - mavlink_log_info(mavlink_fd, "[cmd] trim calibration done"); + mavlink_log_info(mavlink_fd, "trim calibration done"); } void do_mag_calibration(int status_pub, struct vehicle_status_s *status) @@ -352,7 +352,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { warn("WARNING: failed to set scale / offsets for mag"); - mavlink_log_info(mavlink_fd, "[cmd] failed to set scale / offsets for mag"); + mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); } /* calibrate range */ @@ -379,7 +379,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) if (x == NULL || y == NULL || z == NULL) { warnx("mag cal failed: out of memory"); mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); - printf("x:%p y:%p z:%p\n", x, y, z); + warnx("x:%p y:%p z:%p\n", x, y, z); return; } @@ -400,7 +400,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) axis_index++; char buf[50]; - sprintf(buf, "[cmd] Please rotate around %c", axislabels[axis_index]); + sprintf(buf, "Please rotate around %c", axislabels[axis_index]); mavlink_log_info(mavlink_fd, buf); tune_confirm(); @@ -453,7 +453,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) } else { /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "[cmd] mag cal canceled"); + mavlink_log_info(mavlink_fd, "mag cal canceled"); break; } } @@ -490,27 +490,27 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) /* announce and set new offset */ if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { - fprintf(stderr, "[cmd] Setting X mag offset failed!\n"); + warnx("Setting X mag offset failed!\n"); } if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { - fprintf(stderr, "[cmd] Setting Y mag offset failed!\n"); + warnx("Setting Y mag offset failed!\n"); } if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { - fprintf(stderr, "[cmd] Setting Z mag offset failed!\n"); + warnx("Setting Z mag offset failed!\n"); } if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { - fprintf(stderr, "[cmd] Setting X mag scale failed!\n"); + warnx("Setting X mag scale failed!\n"); } if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { - fprintf(stderr, "[cmd] Setting Y mag scale failed!\n"); + warnx("Setting Y mag scale failed!\n"); } if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { - fprintf(stderr, "[cmd] Setting Z mag scale failed!\n"); + warnx("Setting Z mag scale failed!\n"); } /* auto-save to EEPROM */ @@ -518,10 +518,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) if (save_ret != 0) { warn("WARNING: auto-save of params to storage failed"); - mavlink_log_info(mavlink_fd, "[cmd] FAILED storing calibration"); + mavlink_log_info(mavlink_fd, "FAILED storing calibration"); } - printf("[mag cal]\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", + warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); @@ -534,7 +534,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) (double)mscale.y_scale, (double)mscale.z_scale); mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "[cmd] mag calibration done"); + mavlink_log_info(mavlink_fd, "mag calibration done"); tune_confirm(); sleep(2); @@ -543,7 +543,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) /* third beep by cal end routine */ } else { - mavlink_log_info(mavlink_fd, "[cmd] mag calibration FAILED (NaN)"); + mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN)"); } /* disable calibration mode */ @@ -597,7 +597,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) } else { /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "[cmd] gyro calibration aborted, retry"); + mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); return; } } @@ -612,16 +612,10 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { - if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting X gyro offset failed!"); - } - - if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting Y gyro offset failed!"); - } - - if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting Z gyro offset failed!"); + if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) + || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) + || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { + mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); } /* set offsets to actual value */ @@ -650,7 +644,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) // char buf[50]; // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); // mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "[cmd] gyro calibration done"); + mavlink_log_info(mavlink_fd, "gyro calibration done"); tune_confirm(); sleep(2); @@ -659,7 +653,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) /* third beep by cal end routine */ } else { - mavlink_log_info(mavlink_fd, "[cmd] gyro calibration FAILED (NaN)"); + mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); } close(sub_sensor_combined); @@ -669,7 +663,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) { /* announce change */ - mavlink_log_info(mavlink_fd, "[cmd] keep it level and still"); + mavlink_log_info(mavlink_fd, "keep it level and still"); /* set to accel calibration mode */ status->flag_preflight_accel_calibration = true; state_machine_publish(status_pub, status, mavlink_fd); @@ -711,7 +705,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) } else { /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "[cmd] acceleration calibration aborted"); + mavlink_log_info(mavlink_fd, "acceleration calibration aborted"); return; } } @@ -730,28 +724,13 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) float scale = 9.80665f / total_len; - if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!"); - } - - if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!"); - } - - if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting Z accel offset failed!"); - } - - if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!"); - } - - if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!"); - } - - if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) { - mavlink_log_critical(mavlink_fd, "[cmd] Setting Z accel offset failed!"); + if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0])) + || param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1])) + || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2])) + || param_set(param_find("SENS_ACC_XSCALE"), &(scale)) + || param_set(param_find("SENS_ACC_YSCALE"), &(scale)) + || param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) { + mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!"); } fd = open(ACCEL_DEVICE_PATH, 0); @@ -779,7 +758,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) //char buf[50]; //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); //mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "[cmd] accel calibration done"); + mavlink_log_info(mavlink_fd, "accel calibration done"); tune_confirm(); sleep(2); @@ -788,7 +767,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) /* third beep by cal end routine */ } else { - mavlink_log_info(mavlink_fd, "[cmd] accel calibration FAILED (NaN)"); + mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)"); } /* exit accel calibration mode */ @@ -894,16 +873,16 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "[cmd] starting gyro calibration"); + mavlink_log_info(mavlink_fd, "starting gyro cal"); tune_confirm(); do_gyro_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "[cmd] finished gyro calibration"); + mavlink_log_info(mavlink_fd, "finished gyro cal"); tune_confirm(); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING gyro calibration"); + mavlink_log_critical(mavlink_fd, "REJECTING gyro cal"); result = VEHICLE_CMD_RESULT_DENIED; } @@ -916,16 +895,16 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "[cmd] starting mag calibration"); + mavlink_log_info(mavlink_fd, "starting mag cal"); tune_confirm(); do_mag_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "[cmd] finished mag calibration"); + mavlink_log_info(mavlink_fd, "finished mag cal"); tune_confirm(); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING mag calibration"); + mavlink_log_critical(mavlink_fd, "REJECTING mag cal"); result = VEHICLE_CMD_RESULT_DENIED; } @@ -938,11 +917,11 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "[cmd] zero altitude cal. not implemented"); + mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented"); tune_confirm(); } else { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING altitude calibration"); + mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration"); result = VEHICLE_CMD_RESULT_DENIED; } @@ -955,16 +934,16 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "[cmd] starting trim calibration"); + mavlink_log_info(mavlink_fd, "starting trim cal"); tune_confirm(); do_rc_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "[cmd] finished trim calibration"); + mavlink_log_info(mavlink_fd, "finished trim cal"); tune_confirm(); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING trim calibration"); + mavlink_log_critical(mavlink_fd, "REJECTING trim cal"); result = VEHICLE_CMD_RESULT_DENIED; } @@ -977,16 +956,16 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "[cmd] CMD starting accel calibration"); + mavlink_log_info(mavlink_fd, "CMD starting accel cal"); tune_confirm(); do_accel_calibration(status_pub, ¤t_status); tune_confirm(); - mavlink_log_info(mavlink_fd, "[cmd] CMD finished accel calibration"); + mavlink_log_info(mavlink_fd, "CMD finished accel cal"); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING accel calibration"); + mavlink_log_critical(mavlink_fd, "REJECTING accel cal"); result = VEHICLE_CMD_RESULT_DENIED; } @@ -995,8 +974,8 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta /* none found */ if (!handled) { - //fprintf(stderr, "[cmd] refusing unsupported calibration request\n"); - mavlink_log_critical(mavlink_fd, "[cmd] CMD refusing unsup. calib. request"); + //warnx("refusing unsupported calibration request\n"); + mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request"); result = VEHICLE_CMD_RESULT_UNSUPPORTED; } } @@ -1009,7 +988,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) { /* do not perform expensive memory tasks on multirotors in flight */ // XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed - mavlink_log_info(mavlink_fd, "[cmd] REJECTING save cmd while multicopter armed"); + mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed"); } else { @@ -1022,23 +1001,23 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta int read_ret = param_load_default(); if (read_ret == OK) { - //printf("[mavlink pm] Loaded EEPROM params in RAM\n"); - mavlink_log_info(mavlink_fd, "[cmd] OK loading params from"); + //warnx("[mavlink pm] Loaded EEPROM params in RAM\n"); + mavlink_log_info(mavlink_fd, "OK loading params from"); mavlink_log_info(mavlink_fd, param_get_default_file()); result = VEHICLE_CMD_RESULT_ACCEPTED; } else if (read_ret == 1) { - mavlink_log_info(mavlink_fd, "[cmd] OK no changes in"); + mavlink_log_info(mavlink_fd, "OK no changes in"); mavlink_log_info(mavlink_fd, param_get_default_file()); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { if (read_ret < -1) { - mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from"); + mavlink_log_info(mavlink_fd, "ERR loading params from"); mavlink_log_info(mavlink_fd, param_get_default_file()); } else { - mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named"); + mavlink_log_info(mavlink_fd, "ERR no param file named"); mavlink_log_info(mavlink_fd, param_get_default_file()); } @@ -1051,17 +1030,17 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta int write_ret = param_save_default(); if (write_ret == OK) { - mavlink_log_info(mavlink_fd, "[cmd] OK saved param file"); + mavlink_log_info(mavlink_fd, "OK saved param file"); mavlink_log_info(mavlink_fd, param_get_default_file()); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { if (write_ret < -1) { - mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:"); + mavlink_log_info(mavlink_fd, "ERR params file does not exit:"); mavlink_log_info(mavlink_fd, param_get_default_file()); } else { - mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to"); + mavlink_log_info(mavlink_fd, "ERR writing params to"); mavlink_log_info(mavlink_fd, param_get_default_file()); } @@ -1123,7 +1102,7 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr /* got command */ orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); - printf("Subsys changed: %d\n", (int)info.subsystem_type); + warnx("Subsys changed: %d\n", (int)info.subsystem_type); /* mark / unmark as present */ if (info.present) { @@ -1232,7 +1211,7 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("commander already running\n"); + warnx("commander already running\n"); /* this is not an error */ exit(0); } @@ -1255,10 +1234,10 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tcommander is running\n"); + warnx("\tcommander is running\n"); } else { - printf("\tcommander not started\n"); + warnx("\tcommander not started\n"); } exit(0); @@ -1280,7 +1259,7 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_sys_type = param_find("MAV_TYPE"); /* welcome user */ - printf("[cmd] I am in command now!\n"); + warnx("I am in command now!\n"); /* pthreads for command and subsystem info handling */ // pthread_t command_handling_thread; @@ -1288,17 +1267,17 @@ int commander_thread_main(int argc, char *argv[]) /* initialize */ if (led_init() != 0) { - fprintf(stderr, "[cmd] ERROR: Failed to initialize leds\n"); + warnx("ERROR: Failed to initialize leds\n"); } if (buzzer_init() != 0) { - fprintf(stderr, "[cmd] ERROR: Failed to initialize buzzer\n"); + warnx("ERROR: Failed to initialize buzzer\n"); } mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { - fprintf(stderr, "[cmd] ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); + warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); } /* make sure we are in preflight state */ @@ -1324,11 +1303,11 @@ int commander_thread_main(int argc, char *argv[]) state_machine_publish(stat_pub, ¤t_status, mavlink_fd); if (stat_pub < 0) { - printf("[cmd] ERROR: orb_advertise for topic vehicle_status failed.\n"); + warnx("ERROR: orb_advertise for topic vehicle_status failed.\n"); exit(ERROR); } - mavlink_log_info(mavlink_fd, "[cmd] system is running"); + mavlink_log_info(mavlink_fd, "system is running"); /* create pthreads */ pthread_attr_t subsystem_info_attr; @@ -1472,7 +1451,7 @@ int commander_thread_main(int argc, char *argv[]) } } else { - printf("ARMED, rejecting sys type change\n"); + warnx("ARMED, rejecting sys type change\n"); } } @@ -1716,7 +1695,7 @@ int commander_thread_main(int argc, char *argv[]) // // //// if(counter%10 == 0)//for testing only -//// printf("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only +//// warnx("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only // // } else { // gps_quality_good_counter = 0; @@ -1754,7 +1733,7 @@ int commander_thread_main(int argc, char *argv[]) // * Check if manual control modes have to be switched // */ // if (!isfinite(sp_man.manual_mode_switch)) { - // printf("man mode sw not finite\n"); + // warnx("man mode sw not finite\n"); // /* this switch is not properly mapped, set default */ // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || @@ -1806,7 +1785,7 @@ int commander_thread_main(int argc, char *argv[]) // current_status.flag_control_rates_enabled = true; // } - // printf("man ctrl mode: %d\n", (int)current_status.manual_control_mode); + // warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode); /* * Check if manual stability control modes have to be switched @@ -1887,7 +1866,7 @@ int commander_thread_main(int argc, char *argv[]) /* handle the case where RC signal was regained */ if (!current_status.rc_signal_found_once) { current_status.rc_signal_found_once = true; - mavlink_log_critical(mavlink_fd, "[cmd] DETECTED RC SIGNAL FIRST TIME."); + mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME."); } else { if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); @@ -1904,7 +1883,7 @@ int commander_thread_main(int argc, char *argv[]) if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) { /* only complain if the offboard control is NOT active */ current_status.rc_signal_cutting_off = true; - mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL - NO REMOTE SIGNAL!"); + mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!"); last_print_time = hrt_absolute_time(); } @@ -1964,11 +1943,11 @@ int commander_thread_main(int argc, char *argv[]) state_changed = true; tune_confirm(); - mavlink_log_critical(mavlink_fd, "[cmd] DETECTED OFFBOARD CONTROL SIGNAL FIRST"); + mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); } else { if (current_status.offboard_control_signal_lost) { - mavlink_log_critical(mavlink_fd, "[cmd] OK:RECOVERY OFFBOARD CONTROL"); + mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); state_changed = true; tune_confirm(); } @@ -1994,7 +1973,7 @@ int commander_thread_main(int argc, char *argv[]) /* print error message for first RC glitch and then every 5 s / 5000 ms) */ if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) { current_status.offboard_control_signal_weak = true; - mavlink_log_critical(mavlink_fd, "[cmd] CRIT:NO OFFBOARD CONTROL!"); + mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!"); last_print_time = hrt_absolute_time(); } @@ -2058,7 +2037,7 @@ int commander_thread_main(int argc, char *argv[]) close(sensor_sub); close(cmd_sub); - printf("[cmd] exiting..\n"); + warnx("exiting..\n"); fflush(stdout); thread_running = false; -- cgit v1.2.3