From 4a66e285adcd88cf42c3907753abd9b433815e45 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 13 Feb 2014 00:05:27 +0100 Subject: navigator mavlink log info messages: add #audio tag --- src/modules/navigator/navigator_main.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5139ae6cd..2711be24f 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -865,7 +865,7 @@ 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: [navigator] nav state: %s", nav_states_str[myState]); prevState = myState; /* reset time counter on state changes */ @@ -1073,11 +1073,11 @@ Navigator::start_loiter() /* use current altitude if above min altitude set by parameter */ if (_global_pos.alt < min_alt_amsl) { _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: [navigator] 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: [navigator] loiter at current altitude"); } _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; @@ -1175,14 +1175,14 @@ 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: [navigator] 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: [navigator] 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: [navigator] heading to offboard WP %d", index); } } @@ -1331,7 +1331,7 @@ 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: [navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt); break; } @@ -1357,7 +1357,7 @@ 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: [navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt); break; } @@ -1384,12 +1384,12 @@ 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: [navigator] 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; } @@ -1516,7 +1516,7 @@ 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: [navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside); } } @@ -1541,7 +1541,7 @@ 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: [navigator] takeoff completed"); } else { /* advance by one mission item */ -- cgit v1.2.3 From f4bac7e7e802abf671d0ee87ad84b6f281fd81be Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 21 Feb 2014 20:22:05 +0100 Subject: navigator: remove all but one [navigator] tag from mavlink audio messages --- src/modules/navigator/navigator_main.cpp | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 2711be24f..0268c47e7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -865,7 +865,7 @@ Navigator::task_main() /* notify user about state changes */ if (myState != prevState) { - mavlink_log_info(_mavlink_fd, "#audio: [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 */ @@ -1073,11 +1073,11 @@ Navigator::start_loiter() /* use current altitude if above min altitude set by parameter */ if (_global_pos.alt < min_alt_amsl) { _pos_sp_triplet.current.alt = min_alt_amsl; - mavlink_log_info(_mavlink_fd, "#audio: [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, "#audio: [navigator] loiter at current altitude"); + mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude"); } _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; @@ -1175,14 +1175,14 @@ Navigator::set_mission_item() } if (_do_takeoff) { - mavlink_log_info(_mavlink_fd, "#audio: [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, "#audio: [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, "#audio: [navigator] heading to offboard WP %d", index); + mavlink_log_info(_mavlink_fd, "#audio: heading to offboard WP %d", index); } } @@ -1331,7 +1331,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "#audio: [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; } @@ -1357,7 +1357,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "#audio: [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; } @@ -1384,7 +1384,7 @@ Navigator::set_rtl_item() _pos_sp_triplet.next.valid = false; - mavlink_log_info(_mavlink_fd, "#audio: [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; } @@ -1516,7 +1516,7 @@ Navigator::check_mission_item_reached() _time_first_inside_orbit = now; if (_mission_item.time_inside > 0.01f) { - mavlink_log_info(_mavlink_fd, "#audio: [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); } } @@ -1541,7 +1541,7 @@ Navigator::on_mission_item_reached() if (_do_takeoff) { /* takeoff completed */ _do_takeoff = false; - mavlink_log_info(_mavlink_fd, "#audio: [navigator] takeoff completed"); + mavlink_log_info(_mavlink_fd, "#audio: takeoff completed"); } else { /* advance by one mission item */ -- cgit v1.2.3