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Copter: Get the flight mode name display from the name method

This commit is contained in:
muramura 2024-04-13 11:02:52 +09:00 committed by Randy Mackay
parent cd9aa0e3ed
commit 0f0023e62d
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/mode_zigzag.cpp
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@ -170,12 +170,12 @@ void ModeZigZag::save_or_move_to_destination(Destination ab_dest)
if (ab_dest == Destination::A) { if (ab_dest == Destination::A) {
// store point A // store point A
dest_A = curr_pos; dest_A = curr_pos;
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: point A stored"); gcs().send_text(MAV_SEVERITY_INFO, "%s: point A stored", name());
LOGGER_WRITE_EVENT(LogEvent::ZIGZAG_STORE_A); LOGGER_WRITE_EVENT(LogEvent::ZIGZAG_STORE_A);
} else { } else {
// store point B // store point B
dest_B = curr_pos; dest_B = curr_pos;
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: point B stored"); gcs().send_text(MAV_SEVERITY_INFO, "%s: point B stored", name());
LOGGER_WRITE_EVENT(LogEvent::ZIGZAG_STORE_B); LOGGER_WRITE_EVENT(LogEvent::ZIGZAG_STORE_B);
} }
// if both A and B have been stored advance state // if both A and B have been stored advance state
@ -203,10 +203,10 @@ void ModeZigZag::save_or_move_to_destination(Destination ab_dest)
spray(true); spray(true);
reach_wp_time_ms = 0; reach_wp_time_ms = 0;
if (is_auto == false || line_num == ZIGZAG_LINE_INFINITY) { if (is_auto == false || line_num == ZIGZAG_LINE_INFINITY) {
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: moving to %s", (ab_dest == Destination::A) ? "A" : "B"); gcs().send_text(MAV_SEVERITY_INFO, "%s: moving to %s", name(), (ab_dest == Destination::A) ? "A" : "B");
} else { } else {
line_count++; line_count++;
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: moving to %s (line %d/%d)", (ab_dest == Destination::A) ? "A" : "B", line_count, line_num); gcs().send_text(MAV_SEVERITY_INFO, "%s: moving to %s (line %d/%d)", name(), (ab_dest == Destination::A) ? "A" : "B", line_count, line_num);
} }
} }
} }
@ -228,7 +228,7 @@ void ModeZigZag::move_to_side()
current_terr_alt = terr_alt; current_terr_alt = terr_alt;
reach_wp_time_ms = 0; reach_wp_time_ms = 0;
char const *dir[] = {"forward", "right", "backward", "left"}; char const *dir[] = {"forward", "right", "backward", "left"};
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: moving to %s", dir[(uint8_t)zigzag_direction]); gcs().send_text(MAV_SEVERITY_INFO, "%s: moving to %s", name(), dir[(uint8_t)zigzag_direction]);
} }
} }
} }
@ -251,7 +251,7 @@ void ModeZigZag::return_to_manual_control(bool maintain_target)
loiter_nav->init_target(); loiter_nav->init_target();
} }
is_auto = false; is_auto = false;
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: manual control"); gcs().send_text(MAV_SEVERITY_INFO, "%s: manual control", name());
} }
} }
@ -542,7 +542,7 @@ void ModeZigZag::run_auto()
stage = AUTO; stage = AUTO;
reach_wp_time_ms = 0; reach_wp_time_ms = 0;
char const *dir[] = {"forward", "right", "backward", "left"}; char const *dir[] = {"forward", "right", "backward", "left"};
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: moving to %s", dir[(uint8_t)zigzag_direction]); gcs().send_text(MAV_SEVERITY_INFO, "%s: moving to %s", name(), dir[(uint8_t)zigzag_direction]);
} }
} }
} else { } else {